High-density robotic system

ABSTRACT

Methods and apparatuses for performing automated operations using a high-density robotic cell. An apparatus comprises a first plurality of robotic devices; a second plurality of robotic devices; and a control system. Each of the second plurality of robotic devices is coupled to a single function end effector. The control system controls the second plurality of robotic devices to concurrently perform tasks at a plurality of locations on an assembly, while the first plurality of robotic devices independently maintain a clamp-up at each of the plurality of locations.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is related to U.S. patent application Ser. No.16/230,189, entitled “Method and Apparatus for Single-Sided Clamp-up;”U.S. patent application Ser. No. 16/230,280, entitled “Method andApparatus for Single-Sided Clamp-up;” U.S. patent application Ser. No.16/230,370, entitled “Method and Apparatus for Single-Sided Clamp-up;”and U.S. patent application Ser. No. 16/230,522, entitled “High-DensityRobotic System,” each of which is filed on the even date hereof andincorporated herein by reference in its entirety.

FIELD

This disclosure generally relates to the assembly of parts and, moreparticularly, to methods and apparatuses for performing multipleoperations using a high-density robotic cell that includes multiplesingle function end effectors.

BACKGROUND

Automating certain operations during the assembly of structures mayincrease assembly accuracy, improve assembly efficiency, and reduceoverall assembly. For example, the tasks involved in the joining of twoparts may be automated. These tasks may include clamping together thetwo parts, drilling holes through the two parts, inspecting the drilledholes, and inserting fasteners through the drilled holes.

Currently, some fastener installation operations are automated usingrobots with multifunction end effectors. A multifunction end effectormay be a machine with multiple moving parts that work together toperform the various tasks involved in fastener installation, includingclamping, drilling, inspection, and fastener insertion. One or more ofthese tasks may require that parts be held in place together (e.g.,clamped up) in order for a fastener to be installed through the parts.Some currently available systems for maintaining the clamp-up of partsmay be more complex and less efficient than desired for performingcertain types of assembly operations.

Further, some currently available systems robotic systems and endeffectors are larger in size, scale, and complexity, and thus requiremore volumetric space and maintenance than desired. Accordingly, a lowerdensity of robotic devices than desired may be positioned near eachother within a small volumetric space, which may limit the number ofoperations that can be performed concurrently. Further, the down timerequired for routine maintenance or repair of multifunction endeffectors may be greater than desired, which may, in turn, slow downproduction rates more than desired. In some cases, the lower density ofrobotic devices that can be used may result in greater takt times andlower production efficiencies than desired.

SUMMARY

In one example embodiment, a method for performing automated tasks foran assembly is provided. A first plurality of robotic devices ispositioned relative to a first side of the assembly. A second pluralityof robotic devices is positioned relative to a second side of theassembly, each of the second plurality of robotic devices being used toperform a corresponding task. A plurality of tasks is performed at eachof a plurality of locations on the assembly using the first plurality ofrobotic devices and the second plurality of robotic devices. The secondplurality of robotic devices concurrently perform tasks at the pluralityof locations while the first plurality of robotic devices independentlymaintain a clamp-up at each of the plurality of locations.

In another example embodiment, a method is provided for building afuselage assembly of an aircraft. A plurality of cells is positionedrelative to corresponding sections of the fuselage assembly, each of theplurality of cells comprising a first plurality of robotic devicespositioned relative to a first side of the fuselage assembly; and asecond plurality of robotic devices positioned relative to a second sideof the fuselage assembly. An automated operation is performed at each ofa plurality of locations at each of the corresponding sections of thefuselage assembly concurrently using the plurality of cells, whereinrobotic devices of each cell are interchangeable to perform differenttasks of the automated operation according to a predetermined tasksequence.

In yet another example embodiment, an apparatus comprises a firstplurality of robotic devices; a second plurality of robotic devices; anda control system. Each of the second plurality of robotic devices iscoupled to a single function end effector. The control system controlsthe second plurality of robotic devices to concurrently perform tasks ata plurality of locations on an assembly, while the first plurality ofrobotic devices independently maintain a clamp-up at each of theplurality of locations.

The features and functions can be achieved independently in variousembodiments of the present disclosure or may be combined in yet otherembodiments in which further details can be seen with reference to thefollowing description and drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features believed characteristic of the example embodimentsare set forth in the appended claims. The example embodiments, however,as well as a preferred mode of use, further objectives and featuresthereof, will best be understood by reference to the following detaileddescription of an example embodiment of the present disclosure when readin conjunction with the accompanying drawings.

FIG. 1 is an illustration of a perspective view of manufacturingenvironment 100 in accordance with an example embodiment.

FIG. 2 is an illustration of an end view of the fuselage assembly fromFIG. 1 being built in accordance with an example embodiment.

FIG. 3 is a block diagram of a manufacturing environment in accordancewith an example embodiment.

FIG. 4 is an illustration of a side view of robotic devices with singlefunction end effectors positioned relative to an assembly in accordancewith an example embodiment.

FIG. 5 is an illustration of an enlarged side view of end effectors fromFIG. 4 positioned relative to the lap splice from FIG. 4 in accordancewith an example embodiment.

FIG. 6 is an illustration of a side view of the end effectors from FIG.4 applying forces to the lap splice from FIG. 4 in accordance with anexample embodiment.

FIG. 7 is an illustration of a side view of a drilling operation inaccordance with an example embodiment.

FIG. 8 is an illustration of a side view of a suctioning operation inaccordance with an example embodiment.

FIG. 9 is an illustration of an enlarged cross-sectional side view ofthe parts from FIG. 8 in accordance with an example embodiment.

FIG. 10 is an illustration of an enlarged side view of a single-sidedclamp-up in accordance with an example embodiment.

FIG. 11 is an illustration of another side view of the single-sidedclamp-up from FIG. 10 in accordance with an example embodiment.

FIG. 12 is an illustration of a perspective view of an end effectorpositioned relative to a second side of the lap splice from FIG. 11 inaccordance with an example embodiment.

FIG. 13 is an illustration of a side view of a fastener insertion toolbeing used to insert the fastener (shown in FIGS. 11 and 12 ) into thefastener hole (shown in FIG. 11 ) in accordance with an exampleembodiment.

FIG. 14 is an illustration of a cross-sectional view of the installedfastener in the lap splice in accordance with an example embodiment.

FIG. 15 is an illustration of a completion of the fastener installationoperation in accordance with an example embodiment.

FIG. 16 is a flowchart of a method for performing a fastenerinstallation in accordance with an example embodiment.

FIG. 17 is a flowchart of a process for maintaining a clamp-up inaccordance with an example embodiment.

FIG. 18 is a flowchart of a process for maintaining a clamp-up inaccordance with an example embodiment.

FIG. 19 is a flowchart of a process for maintaining a single-sidedclamp-up in accordance with an example embodiment.

FIG. 20 is a flowchart of a process for maintaining a single-sidedclamp-up in accordance with an example embodiment.

FIG. 21 is a flowchart of a process for maintaining a single-sidedclamp-up in accordance with an example embodiment.

FIG. 22 is a flowchart of a process for maintaining a single-sidedclamp-up in accordance with an example embodiment.

FIG. 23 is a flowchart of a process for providing a clamp-up inaccordance with an example embodiment.

FIG. 24 is a block diagram of a manufacturing environment in accordancewith an example embodiment.

FIG. 25 is an illustration of another perspective view of themanufacturing environment from FIG. 1 in accordance with an exampleembodiment.

FIG. 26 is an illustration of an enlarged end view of a fuselageassembly being built in accordance with an example embodiment.

FIG. 27 is an illustration of an enlarged perspective view of endeffectors coupled to robotic devices from FIGS. 25-26 in accordance withan example embodiment.

FIG. 28 is an illustration of an enlarged perspective view of endeffectors coupled to robotic devices from FIGS. 25-26 in accordance withan example embodiment.

FIG. 29 is a representational sequence diagram of the various stagesinvolved in a cell performing automated fastener installation operationsat multiple fastener installation points along an assembly in accordancewith an example embodiment.

FIG. 30 is a flowchart of a process for performing automated operationsfor an assembly in accordance with an example embodiment.

FIG. 31 is a flowchart of a process for performing automated operationsto build a fuselage assembly for an aircraft in accordance with anexample embodiment.

FIGS. 32A, 32B, and 32C are flowcharts of a process for performingautomated fastener installation operations along a joint in accordancewith an example embodiment.

FIG. 33 is a flowchart of a process for performing automated fastenerinstallation operations along a fuselage assembly for an aircraft inaccordance with an example embodiment.

FIG. 34 is a flowchart of a process for performing automated operationsusing a high-density robotic cell in accordance with an exampleembodiment.

FIG. 35 is a flowchart of a process for installing fasteners at aplurality of locations along a joint in accordance with an exampleembodiment.

FIG. 36 is a flowchart of a process for providing multiple single-sidedclamp-ups in accordance with an example embodiment.

FIG. 37 is a flowchart of a process for installing fasteners on a splicein accordance with an example embodiment.

FIG. 38 is a block diagram of a data processing system in accordancewith an example embodiment.

FIG. 39 is an illustration of an aircraft manufacturing and servicemethod in accordance with an example embodiment.

FIG. 40 is a block diagram of an aircraft in accordance with an exampleembodiment.

DETAILED DESCRIPTION

The example embodiments described below provide methods and apparatusesfor improving the efficiency and ease of joining parts together. Forexample, the methods and apparatuses described below may improve theefficiency and ease and reduce the complexity of installing fasteners tojoin parts together. The example embodiments recognize and take intoaccount that single function end effectors allow the various tasks(e.g., drilling, inspection, fastener insertion) of a fastenerinstallation operation to be separated. By using a different singlefunction end effector for the different tasks, the end effectors may bemade smaller, lighter, and less complex than multifunction endeffectors.

The simplicity of single function end effectors may help improve theoverall efficiency and reliability of using end effectors to automatefastener installation operations. Further, the simplicity of singlefunction end effectors may reduce the amount of maintenance required,the overall size of the supporting robot and associated structure, orboth.

In particular, the example embodiments recognize and take into accountthat the parts of an assembly through which a fastener is beinginstalled need to be held in place together (e.g., clamped together)while the single function end effectors are being switched out toperform the various tasks. The example embodiments provide methods andapparatuses for holding these parts together from one side of theassembly to enable the switching out of single function end effectors onthe other side of the assembly.

In one example embodiment, a method is provided for automating afastener installation. A first mechanical force is applied to a firstpart and a second mechanical force is applied to a second part to form aclamp-up of the first part and the second part. Air is suctioned througha fastener hole, which is formed by a first hole in the first part thatis aligned with a second hole in the second part, to pull the secondpart towards the first part and thereby maintain the clamp-up of thefirst part and the second part even after the second mechanical forcehas been removed.

In another example embodiment, method is provided for aligning a firsthole in a first panel with a second hole in a second panel to define athrough-hole. A wall that defines the second hole is gripped from withinthe through-hole to pull the second panel towards the first panel andthereby establish a clamp-up of the first panel and the second panel.

In yet another example embodiment, a method is provided for using asingle function end effector to maintain a clamp-up. The single functionend effector is positioned at one side of a panel joint and applies botha first force on a first panel of the panel joint and a second force ona second panel of the panel joint to maintain the clamp-up. The firstforce may be, for example, a suction force, while the second force maybe, for example, a reactive force applied in response to the suctionforce. In this manner, a single-sided clamp-up is achieved.

Thus, the example embodiments provide methods and systems forestablishing a clamp-up, maintaining a clamp-up, or both of a firstpanel and a second panel. These methods and systems involve gripping awall that defines a hole in the second panel from within a hole in thefirst panel to pull the second panel towards the first panel. The firsthole and the second hole form a through-hole extending through the firstpanel and the second panel.

This gripping may be performed by, for example, drawing a partial vacuum(e.g., suctioning) through a fastener hole (e.g., the through-hole) in adirection from the second panel towards the first panel. This grippingforce is combined with an opposing force (e.g., a reactive force)created by the single function end effector being positioned in contactwith the first panel. In this manner, single-sided clamp-up is achieved.The clamp-up is formed from the side of the first panel to allowmovement of tools and devices and provide space for any number ofoperations to be performed at the side of the second panel.

In some cases, one or more panels may be present between the first paneland the second panel. The fastener hole extends through the first panel,the second panel, and any number of panels between the first and secondpanels. In other cases, sealant is applied on the faying surfaces of oneor both of the first and second panels.

Referring now to the figures, FIG. 1 is an illustration of a perspectiveview of manufacturing environment 100 in accordance with an exampleembodiment. Within manufacturing environment 100, fuselage assembly 102is being built. In this illustrative example, plurality of assemblysystems 104 is positioned relative to fuselage assembly 102.

Assembly system 106 is an example of one of plurality of assemblysystems 104. Assembly system 106 includes robotic devices 108 positionedrelative to exterior 110 of fuselage assembly 102 and robotic devices112 positioned relative to interior 114 of fuselage assembly 102.Robotic devices 108 and robotic devices 112 work together to performfastener installation operations for the building of fuselage assembly102.

FIG. 2 is an illustration of an end view of fuselage assembly 102 beingbuilt in accordance with an example embodiment. As depicted, roboticdevices 108 are supported by platform 200 and robotic devices 112 aresupported by platform 202. Robotic devices 108 and robotic devices 112work together to install fasteners that join fuselage panels together tobuild fuselage assembly 102.

In this illustrative example, robotic devices 108 are coupled with endeffectors for performing drilling, inspection, and fastener insertiontasks. These end effectors are single function end effectors that may beswitched out by being moved around relative to, for example, fastenerinstallation point 113 to perform their individual tasks. A singlefunction end effector is an end effector used to perform a singlefunction per robotic device per fastener installation point. In somecases, robotic devices 108 are moved around on platform 200 in order toposition the end effector for a particular task relative to fastenerinstallation point 113. In other cases, robotic devices 108 may remainstationary on platform 200 but may be used to move their end effectorsaround in order to position the proper end effector for a given taskrelative to fastener installation point 113.

Each of robotic devices 112 is coupled with an end effector that is usedto hold together the fuselage panels from the interior side of fuselageassembly 102 during the switching out of the single function endeffectors coupled to robotic devices 108. For example, after the endeffector on one of robotic devices 108 has been used to perform itsdesignated task, that end effector may be moved away from fastenerinstallation point 113 to make room for a different end effector. An endeffector coupled to one of robotic devices 112 is used to maintain theclamp-up of the fuselage panels from only the interior side of fuselageassembly 102, while the end effectors are being switched around on theexterior side of fuselage assembly 102.

FIG. 3 is a block diagram of a manufacturing environment 300 inaccordance with an example embodiment. Manufacturing environment 100 inFIG. 1 is an example of one implementation for manufacturing environment300. Within manufacturing environment 300, assembly system 302 is usedto build assembly 304.

Assembly 304 includes part 308 and part 310. Part 308 and part 310 aremated to form a joint (not shown) in assembly 304. Side 311 of part 308,which forms a first side of the joint, faces opposite part 310. Side 312of part 310, which forms a second side of the joint, faces opposite part308.

Although assembly 304 is described as having only two parts in theseexample embodiments, in other cases, assembly 304 may include more thantwo parts. In one illustrative example, assembly 304 takes the form offuselage assembly 313 of aircraft 314. In one example, part 308 and part310 take the form of fuselage panels. In other examples, part 308 andpart 310 take the form of other types of aircraft parts, such as wingpanels. When part 308 and part 310 take the form of panels, theytogether form a panel joint.

Assembly system 106 in FIG. 1 is an example of one implementation forassembly system 302. Assembly system 302 includes control system 315 andplurality of robotic devices 316. Control system 315 controls theoperation of robotic devices 316. Control system 315 is implementedusing software, hardware, firmware, or a combination thereof.

When software is used, the operations performed by control system 315may be implemented using, for example, without limitation, program codeconfigured to run on a processor unit. When firmware is used, theoperations performed by control system 315 may be implemented using, forexample, without limitation, program code and data and stored inpersistent memory to run on a processor unit.

When hardware is employed, the hardware may include one or more circuitsthat operate to perform the operations performed by control system 315.Depending on the implementation, the hardware may take the form of acircuit system, an integrated circuit, an application specificintegrated circuit (ASIC), a programmable logic device, or some othersuitable type of hardware device configured to perform any number ofoperations. A programmable logic device may be configured to performcertain operations. The device may be permanently configured to performthese operations or may be reconfigurable. A programmable logic devicemay take the form of, for example, without limitation, a programmablelogic array, a programmable array logic, a field programmable logicarray, a field programmable gate array, or some other type ofprogrammable hardware device.

In these illustrative examples, control system 315 may be implementedusing a computer system. The computer system may include a singlecomputer or multiple computers in communication with each other.

Plurality of robotic devices 316 includes, for example, withoutlimitation, robotic device 318, robotic device 320, and robotic device322. Robotic device 318, robotic device 320, and robotic device 322 arecoupled with end effector 324, end effector 326, and end effector 328,respectively. Each of these end effectors may be considered a singlefunction end effector. In some illustrative examples, end effector 324,end effector 326, and end effector 328 are considered part of roboticdevice 318, robotic device 320, and robotic device 322, respectively. Inother illustrative examples, end effector 324, end effector 326, and endeffector 328 are considered separate from but attachable to anddetachable from robotic device 318, robotic device 320, and roboticdevice 322.

In one example embodiment, end effector 324 includes suction device 330and a tool, which may be nozzle 332, coupled to suction device 330.Nozzle 332 is directly or indirectly coupled to suction device 330. Inthese illustrative examples, nozzle 332 may be an elongated member withchannel 334 that extends through nozzle 332. Suction device 330generates suction that with sufficient power, suctions air into andthrough channel 334 within nozzle 332.

End effector 326 includes tool 336 and drilling tool 338. In someillustrative examples, tool 336 is a cylindrical member that surroundsdrilling tool 338. End effector 328 includes fastener insertion tool340.

To perform a fastener installation, end effector 324 and end effector326 are positioned on opposite sides of assembly 304. These endeffectors are used to apply equal and opposite forces (e.g., first force342 and second force 344 to part 308 and part 310, respectively) to formclamp-up 341. In particular, end effector 324 and end effector 326 areoperated to apply equal and opposite forces to side 311 of part 308 andside 312 of part 310, respectively, to form clamp-up 341.

For example, at least one of robotic device 318 or end effector 324 isoperated to apply first force 342 to side 311 of part 308 using nozzle332. First force 342 is a first mechanical force, which may also bereferred to as a clamping force in some cases. In some cases, endeffector 324 includes an extension system for moving nozzle 332 towardsside 311 to apply first force 342 to part 308. Further, at least one ofrobotic device 320 or end effector 326 may be operated to apply secondforce 344 to the other side of assembly 304 using tool 336. Second force344 is a second mechanical force, which may also be referred to as aclamping force in some cases. In some cases, end effector 326 includesan extension system for moving tool 336 towards side 312 to apply secondforce 344 to part 310.

In one example, nozzle 332 and tool 336 are simultaneously extendedtowards and pressed against part 308 and part 310, respectively, toapply first force 342 to part 308 and second force 344 to part 310.Nozzle 332 and tool 336 are pressed against part 308 and part 310,respectively, until the desired force static equilibrium is achievedbetween first force 342 and second force 344. In other words, nozzle 332and tool 336 are pressed or pushed against part 308 and part 310,respectively, until first force 342 and second force 344, which areequal and opposite forces, reach amounts sufficient to establishclamp-up 341 of part 308 and part 310.

Once clamp-up 341 is achieved, nozzle 332 and tool 336 are held in fixedpositions with respect to the reference coordinate system. Thus,clamp-up 341 is maintained in a fixed position relative to the referencecoordinate system by the force static equilibrium created by thepositioning of nozzle 332 and tool 336 with respect to the referencecoordinate system.

In some illustrative examples, clamp-up 341 includes part 308, part 310,with both having sealant applied to the faying surfaces of these parts.In other words, the clamp-up may include the sealant sealing these partstogether. This type of clamp-up 341 of part 308 and part 310 may be usedfor “one-up” assembly.

In some illustrative examples, drilling tool 338 is used to drill hole343 through part 308 and hole 345 through part 310 while clamp-up 341 ofthese parts is maintained using suction 349. Drilling tool 338 ispositioned at side 312 such that the drilling of both hole 343 and hole345 is performed from side 312. In this manner, hole 345 is formedbefore hole 343. In one or more examples, drilling tool 338 includes asuction device or some other type of cleanup device that is used to helpremove part shavings or castoffs that are created during drilling.

Maintaining clamp-up 341 of these parts during drilling ensures thathole 343 and hole 345 are aligned during and after drilling to formfastener hole 346. Further, maintaining clamp-up 341 of these partsduring drilling may also help maintain clamp-up of a sealant (not shown)between part 308 and part 310; prevent gaps between part 308 and part310; prevent drill filings, shavings, or castoffs from falling throughor otherwise entering one or more gaps between part 308 and part 310;reduce or eliminate a need to deburr edges of hole 343 and hole 345after drilling; or a combination thereof.

Hole 343 in part 308 and hole 345 in part 310 are formed concentricallyand coaxially. Fastener hole 346 may also be referred to as a channel ora through-hole. As used herein, a through-hole is a hole that passesthrough two or more parts and is thereby formed by the coaxial holesthrough these two or more parts.

Prior to installation of fastener 348 within fastener hole 346, endeffector 326 needs to be switched out for end effector 328 havingfastener insertion tool 340. But because tool 336 of end effector 326 isbeing used to maintain clamp-up 341, a different mechanism formaintaining clamp-up 341 is needed before end effector 328 can beswitched out. For example, movement of tool 336 away from part 310 ormovement of nozzle 332 away from part 308, without some additionalmechanism for maintaining clamp-up 341, could undo clamp-up 341.Accordingly, a mechanism for maintaining clamp-up 341 while stillallowing end effector 326 to be switched out with end effector 328 isneeded.

Suction device 330 of end effector 324 is used to maintain clamp-up 341from only side 311 to thereby allow end effector 326 at side 312 to beswitched out with end effector 328. In particular, suction device 330generates suction 349 to suction air through fastener hole 346 from side311. Suctioning is performed while the force static equilibrium betweenfirst force 342 and second force 344 is maintained.

The volumetric flow rate of the suctioning is sufficient to pull part310 towards part 308 to maintain clamp-up 341. In particular, thevolumetric flow rate is sufficient to provide a gripping force thatgrips wall 347 defining hole 345 to pull part 310 towards part 308. Inother illustrative examples, wall 347 may also be referred to as a holewall. This suctioning is sufficient to independently maintain clamp-up341 of part 308 and part 310 relative to each other.

By using the suctioning to grip wall 347 that defines hole 345 in part310, suction device 330 applies a suction force to part 310. Thissuction force pulls part 310 towards part 308 and ultimately, towardsend effector 324. The positioning of nozzle 332 of end effector 324relative to part 308 and with respect to the reference coordinate systemcreates a reactive force in response to the suction force. This reactiveforce is equal and opposite to the suction force.

Suctioning is performed until a desired force static equilibrium isreached between the suction force and the reactive force. Once thedesired force static equilibrium is reached, suctioning can be used toindependently maintain clamp-up 341 even when tool 336 is moved awayfrom clamp-up 341.

In this manner, suction device 330 produces suction 349 sufficient tohold part 308 and part 310 in place relative to each other even aftersecond force 344 has been removed (e.g., when tool 336 is moved away andend effector 326 is switched out for another end effector). In otherwords, when tool 336 is moved away and out of contact with part 310,such that second force 344 is removed, the suctioning of air throughfastener hole 346 and into channel 334 of nozzle 332 maintains clamp-up341 of part 308 and part 310.

In one or more illustrative examples, control system 315 is used tocontrol the operation of end effector 324, end effector 326, and endeffector 328. Control system 315 ensures that the desired force staticequilibriums discussed above are established to thereby maintainclamp-up 341 and prevent any undesired shifting of part 308 relative topart 310 when end effector 326 for drilling is switched out with endeffector 328 for fastener installation.

Specifically, end effector 326 with drilling tool 338 may be switchedout with end effector 328 having fastener insertion tool 340. Fastenerinsertion tool 340 is used to insert fastener 348 within fastener hole346 while suction device 330 continues to suction air through fastenerhole 346 from the opposite side 311 of assembly 304. In this manner,assembly system 302 may allow installation of fastener 348 to beperformed in a simple, easy, and efficient manner.

Suction device 330 provides a sufficient suction force that incombination with the reactive force provided by nozzle 332 maintainsclamp-up 341 without requiring an additional force at side 312 ofclamp-up 341. In other words, suction device 330 and nozzle 332 togetherensure that clamp-up 341 is independently maintained from a single sideof clamp-up 341.

Fastener 348 is installed while clamp-up 341 is maintained with suction349. In these illustrative examples, suctioning continues until fastener348 is fully installed within fastener hole 346. In some cases, fastener348 is considered fully installed when a desired interference fit isformed between fastener 348 and fastener hole 346. In other examples,fastener 348 is considered fully installed only after fastener 348 hasbeen inserted within fastener hole 346 and fastener retaining hardwarehas been installed over fastener 348. Fastener retaining hardware mayinclude, for example, a collar, a nut, some other type of hardware, or acombination thereof. In other examples, fastener 348 may be consideredfully installed after one or more other operations have been performed.

Once fastener 348 has been fully installed, suction 349 is no longerneeded to maintain clamp-up. In other words, fastener 348 is used tomaintain clamp-up 341 after suctioning has been stopped.

The illustration of manufacturing environment 100 in FIG. 1 is not meantto imply physical or architectural limitations to the manner in which anexample embodiment may be implemented. Other components in addition toor in place of the ones illustrated may be used. Some components may beoptional. Further, the blocks are presented to illustrate functionalcomponents. One or more of these blocks may be combined, divided, orcombined and divided into different blocks when implemented in anexample embodiment.

For example, in some cases, the drilling of fastener hole 346 may bepart of a different process prior to part 308 and part 310 being broughttogether to form clamp-up 341. For example, first hole 343 may bedrilled into part 308 and hole 345 may be drilled into part 310 prior tothese parts being clamped-up.

Part 308 and part 310 may then be positioned relative to each other. Inthese examples, part 308 and part 310 are positioned to align hole 343and hole 345 at least one of concentrically or coaxially. Hole 343 andhole 345 may be sized such that when hole 343 and hole 345 are alignedtogether they form fastener hole 346. In other examples, hole 343 andhole 345 may be determinate assembly (DA) holes. When hole 343 and hole345 are determinate assembly holes and aligned coaxially, they form anindex hole (not shown). Part 308 and part 310 may be temporarily matedusing, for example, a temporary fastener installed through the indexhole. The index hole may also be referred to as a reference hole, aguide hole, a tooling hole, or a through-hole.

In one or more examples, after the coaxial alignment of hole 343 andhole 345, suction 349 is used to establish and maintain clamp-up 341 ofpart 308 and part 310. This suctioning is formed at side 311 such thatclamp-up 341 is a single-sided clamp-up. In some cases, when a temporaryfastener is used to join part 308 and part 310, suction 349 is appliedsimultaneously with the removal of the temporary fastener to therebyestablish and maintain clamp-up 341.

With reference to FIGS. 4-15 , illustrations of an assembly system forperforming a fastener installation operation are depicted in accordancewith an example embodiment. In some illustrative examples, the assemblysystem may be referred to as a fastener installation system.

FIG. 4 is an illustration of an end view of single function endeffectors positioned relative to a lap splice in accordance with anexample embodiment. Lap splice 400 is an example of one implementationfor assembly 304 in FIG. 3 or a panel joint in assembly 304. In additionto lap splice 400, the example embodiments may be also applicable toother types of splices not shown.

Lap splice 400 includes first part 402 and second part 404, which may beexamples of implementations for part 308 and part 310 of FIG. 3 ,respectively. In other examples, lap splice 400 may include a third part(not shown) or some other number of parts. In one illustrative example,first part 402 and second part 404 take the form of fuselage panels. Thesize and scale of first part 402 and second part 404 in FIGS. 4-15 isshown for illustrative purposes only. In other illustrative examples,the size of first part 402 and second part 404 may be smaller than ormuch larger than shown in FIGS. 4-15 .

Lap splice 400 has first side 406 and second side 408. In thisillustrative example, first side 406 is formed by surface 410 of firstpart 402 and second side 408 is formed by surface 412 of second part404. When first part 402 and second part 404 take the form of fuselagepanels of a fuselage assembly, surface 410 of first part 402 may befacing an interior of the fuselage assembly and surface 412 of secondpart 404 may be facing an exterior of the fuselage assembly (the head ofthe fastener will be installed on the exterior surface, 412 when processcompleted).

In this illustrative example, assembly system 413 is positioned relativeto assembly 409. Assembly system 413 includes end effector 414, endeffector 416, robotic device 418, and robotic device 419.

End effector 414 and end effector 416 are coupled to robotic device 418and robotic device 419, respectively. End effector 414 and end effector416 may be examples of implementations for end effector 324 and endeffector 326 of FIG. 3 , respectively. End effector 414 is positionedrelative to first side 406 of lap splice 400 and end effector 416 ispositioned relative to second side 408 of lap splice 400.

End effector 414 and end effector 416 may be single function endeffectors. End effector 414 includes at least nozzle 420 and suctiondevice 422, which are examples of implementations of nozzle 332 andsuction device 330, respectively, from FIG. 3 . End effector 416includes tool 424 and drilling tool 426. Tool 424 is depicted astransparent in FIG. 4 for illustrative purposes only. Tool 424 anddrilling tool 426 are examples of implementations of tool 336 anddrilling tool 338, respectively, from FIG. 3 .

In this illustrative example, tool 424 includes element 428 and element430. Element 428 takes the form of, for example, without limitation, afirst cylindrical member that surrounds drilling tool 426. Element 430takes the form of, for example, without limitation, a second cylindricalmember having a smaller diameter than the first cylindrical member butsufficiently large to allow drill bit 432 of drilling tool 426 to passthrough the second cylindrical member. In some illustrative examples,element 430 is sufficiently large to allow drill shavings or chips to becollected during drilling.

FIG. 5 is an illustration of an enlarged side view of end effector 414and end effector 416 positioned relative to lap splice 400 in accordancewith an example embodiment. In this illustrative example, end effector414 and end effector 416 have been positioned in alignment withreference axis 500 through lap splice 400. Reference axis 500 may be anaxis substantially perpendicular to lap splice 400 that passes throughlap splice 400 at the location at which a hole is to be drilled and afastener is to be installed.

FIG. 6 is an illustration of a side view of end effector 414 and endeffector 416 applying forces to lap splice 400 in accordance with anexample embodiment. As depicted, at least one of end effector 414 orrobotic device 418 has been used to move nozzle 420 into contact withfirst side 406 of lap splice 400. Nozzle 420 is pushed against firstside 406 to apply first force 600 to first side 406. First force 600 isan example of first force 342 in FIG. 3 . First force 600 is amechanical force.

Similarly, at least one of end effector 416 or robotic device 419 hasbeen used to move element 430 into contact with second side 408 of lapsplice 400. In particular, element 430 is pushed against second side 408to apply second force 602 to second side 408.

Nozzle 420 and element 430 are pushed against first part 402 and secondpart 404, respectively, until a desired force static equilibrium isreached between first force 600 and second force 602 applied to lapsplice 400. Once this desired force static equilibrium has been reached,clamp-up 604 of first part 402 and second part 404 is achieved. In otherwords, first part 402 and second part 404 may be held in place such thateach of these parts is held in a particular position relative to theother.

While nozzle 420 and element 430 are no longer pushed against first part402 and second part 404, respectively, they are kept fixed in thepositions at which the desired force static equilibrium is achieved tomaintain clamp-up 604. In some cases, sealant may be present in betweenfirst part 402 and second part 404.

FIG. 7 is an illustration of a side view of a drilling operation inaccordance with an example embodiment. Once clamp-up 604 of first part402 and second part 404 has been established, drilling tool 426 of endeffector 416 is operated to drill fastener hole 700 that extends throughlap splice 400. Fastener hole 700 may extend from second side 408 ofsecond part 404 all the way through to first side 406 of first part 402.In some cases, fastener hole 700 may be countersunk. Fastener 700 is anexample of one implementation for fastener hole 346 in FIG. 3 .

FIG. 8 is an illustration of a side view of a suctioning operation inaccordance with an example embodiment. After fastener hole 700 has beendrilled, drill bit 432 is moved away from second part 404. For example,drill bit 432 may be retracted within element 428.

Suction device 422 of end effector 414 is operated to suction airthrough fastener hole 700 from first side 406 of lap splice 400. Air issuctioned through fastener hole 700 in the direction of arrow 800 fromsecond side 408 of lap splice 400 towards first side 406 of lap splice400. The air is suctioned through fastener hole 700 and into nozzle 420.

This suctioning creates a force, which may be suction force 802, that isapplied to second part 404. Suction force 802 pulls second part 404towards first part 402. Reactive force 804 is created in response tosuction force 802 by the positioning of nozzle 420 in contact with firstpart 402. Suctioning is performed until the desired force staticequilibrium is achieved between suction force 802 and reactive force804. For example, suction power may be increased until the desired forcestatic equilibrium is achieved and sufficient suction power has beengenerated to allow clamp-up 604 to be maintained via suctionindependently of first force 600 and second force 602.

In these illustrative examples, suction device 422 may be operated tocontinue to suction air through fastener hole 700 until the fastenerinstallation operation has been completed. In some examples, each ofelement 430 and nozzle 420, or both, may have at least one of a notch, agroove, a port, an opening, or some other type of vent for allowing airto pass in and out. This venting helps ensure that the suction power isnot greater than desired. For example, element 430 may have one or morenotches along the edge of element 430 that comes into contact withsecond part 404 to help make moving element 430 away from second part404 while suctioning is ongoing easier.

FIG. 9 is an illustration of an enlarged cross-sectional side view offirst part 402 and second part 404 in accordance with an exampleembodiment. This view allows fastener hole 700 and wall 900 that definesthe portion of fastener hole 700 formed within second part 404 to bemore clearly seen. Wall 900 may also be referred to as a hole wall.

As depicted, suction force 802 may be a gripping force that grips wall900 defining the portion of fastener hole 700 formed within second part404 to thereby pull second part 404 towards first part 402, andultimately, towards nozzle 420. Nozzle 420 applies reactive force 804 onfirst part 402.

Together, suction force 802 and reactive force 804 may be used toindependently maintain clamp-up 604 even after element 430 is moved awayand out of contact with second part 404. By allowing clamp-up 604 to bemaintained independently of first force 600 and second force 602, endeffector 416 may be switched out with a different end effector. Forexample, at least one of end effector 416 or robotic device 419 may beoperated to move element 430 of tool 424 away from lap splice 400.Robotic device 419 may then be switched out with a different roboticdevice and a different effector may be positioned relative to lap splice400.

FIG. 10 is an illustration of an enlarged side view of a single-sidedclamp-up in accordance with an example embodiment. As depicted, element430 shown in the previous figures has been moved out of contact withfirst part 402. But even without first force 600 and second force 602,suction force 802 and reactive force 804 are able to independentlymaintain clamp-up.

Thus, single-sided clamp up is achieved. This type of single-sidedclamp-up at first side 406 of lap splice 400 frees up the space aroundfastener hole 700 at second side 408 of lap splice 400 to allow forsimpler and easier switching out of end effectors. No specialized toolsare needed at second side 408 of lap splice 400 to maintain clamp-up604.

FIG. 11 is an illustration of another side view of the single-sidedclamp-up from FIG. 10 in accordance with an example embodiment. Asdepicted, end effector 416 from FIGS. 4-9 has been switched out with endeffector 1100, which is coupled to robotic device 1102. End effector1100 and robotic device 1102 are part of assembly system 413.

In this illustrative example, robotic device 419 with end effector 416is moved to allow robotic device 1102 with end effector 1100 to bepositioned relative to second side 408 of lap splice 400. In otherillustrative examples, end effector 416 may be swapped with end effector1100 and end effector 1100 then coupled to robotic device 419. Asdepicted, the switching of end effectors occurs after fastener hole 700has been drilled through lap splice 400 and single-sided clamp-up hasbeen achieved.

In this illustrative example, end effector 1100 includes fastenerinsertion tool 1104. At least one of end effector 1100 or robotic device1102 may be used to move and position fastener insertion tool 1104relative to fastener hole 700 that has been drilled through lap splice400. Fastener insertion tool 1104 is used to insert fastener 1106 intofastener hole 700. In one or more examples, fastener insertion tool 1104installs fastener 1106 by forming a desired interference fit betweenfastener 1106 and fastener hole 700.

FIG. 12 is an illustration of a perspective view of end effector 1100positioned relative to second side 408 of lap splice 400 in accordancewith an example embodiment. As depicted, fastener hole 700 is one of aplurality of fastener holes through lap splice 400 in which fasteners1200 have been installed.

FIG. 13 is an illustration of a side view of fastener insertion tool1104 being used to insert fastener 1106 (shown in FIGS. 11 and 12 ) intofastener hole 700 (shown in FIG. 11 ) in accordance with an exampleembodiment. Fastener insertion tool 1104 inserts fastener 1106 intofastener hole 700 while suction device 422 continues to suction airthrough fastener hole 700.

FIG. 14 is an illustration of a cross-sectional view of the installedfastener 1106 in lap splice 400 in accordance with an exampleembodiment. In this particular illustrative example, fastener 1106 is acountersunk fastener and fastener hole 700 is a countersunk hole.

FIG. 15 is an illustration of a completion of the fastener installationoperation in accordance with an example embodiment. As depicted,fastener 1106 has been installed in lap splice 400. Once fastener 1106has been installed, suctioning is no longer needed to maintain clamp-up504 from the previous figures. Fastener 1106 is capable of independentlymaintaining clamp-up 604 with respect to the portion of lap splice 400in which fastener 1106 is installed.

In one or more illustrative examples, installation of fastener 1106 iscompleted once a desired interference fit has been formed betweenfastener 1106 and fastener hole 700. Once this interference fit has beenformed, suctioning is discontinued. In other illustrative examples,fastener 1106 is considered fully installed when fastener retaininghardware is installed over fastener 1106. Suctioning continues until allthe operations required to complete installation of fastener 1106 havebeen completed to ensure that the fastener installation meetsrequirements.

After fastener 1106 is fully installed, end effector 414 may be movedaway from lap splice 400 and repositioned relative to a next location onlap splice 400 at which a fastener is to be installed. Further, endeffector 1100 from FIGS. 11-13 may be switched out with end effector 416and end effector 416 may be repositioned relative to the next locationon lap splice 400 at which the new fastener is to be installed.

The illustrations of end effectors, tools, devices, and other componentsin FIGS. 4-15 are not meant to imply physical or architecturallimitations to the manner in which an example embodiment may beimplemented. Other components in addition to or in place of the onesillustrated may be used. Some components may be optional. The differentcomponents shown in FIGS. 4-15 may be illustrative examples of howcomponents shown in block form in FIG. 3 can be implemented as physicalstructures. Additionally, some of the components in FIGS. 4-15 may becombined with components in FIG. 3 , used with components in FIG. 3 , ora combination of the two.

FIG. 16 is a flowchart of a method for performing a fastenerinstallation in accordance with an example embodiment. Process 1600illustrated in FIG. 16 may be implemented using assembly system 302 fromFIG. 3 or assembly system 413 from FIGS. 4-15 .

The process may begin by applying a first mechanical force to a firstpart and a second mechanical force to a second part to form a clamp-upof the first part and the second part (operation 1602). The assemblyincludes a first part and a second part positioned in contact with eachother. The first part forms the first side of the clamp-up and thesecond part forms the second side of the clamp-up.

Optionally, a fastener hole is drilled through the clamp-up of the firstpart and the second part from the second side of the clamp-up (operation1604). The fastener hole extends from the second side to the first sideof the assembly. The fastener hole may be formed by a first hole drilledthrough the first part and a second hole drilled through the secondpart. In these illustrative examples, the first hole and the second holeare coaxial.

Air is suctioned, from the first side of the clamp-up, through thefastener hole that passes through the first part and the second part topull the second part towards the first part and thereby maintain theclamp-up of the first part and the second part even after the secondmechanical force has been removed (operation 1606). In other words, thesuctioning of the air through the fastener hole maintains the “clamp-up”of the first part and the second part without requiring use of thesecond mechanical force at the second side of the clamp-up.

In particular, in operation 1606, suctioning is performed at avolumetric flow rate sufficient to maintain the clamp-up from just thefirst side of the clamp-up without requiring use of additional force atthe second side of the clamp-up. Air is suctioned through the fastenerhole to grip a wall of the second hole in the second part and therebypull the second part towards the first part.

In these examples, air is suctioned from the first side of the clamp-upthrough the fastener hole in a direction towards the first part and at avolumetric flow rate sufficient to maintain a gripping of the wall ofthe second hole while overcoming a volume of suction lost at the secondside of the clamp-up. For example, some volume of suction or suctionforce may be lost due to an open end of the fastener hole at the secondside.

In some examples, depending on the implementation, operation 1606 may bebegun after operation 1604 has been completed or during operation 1604.In other words, suctioning may be performed only after the fastener holehas been drilled or while the fastener hole is being drilled.

The first mechanical force and the second mechanical force are removed(operation 1608). Operation 1608 includes, for example, switching outthe end effector that performed the drilling of operation 1604 with anew end effector. The suctioning performed in operation 1606 continuesin order to maintain the clamp-up of the first part and the second partduring the switching out of the end effectors.

Thereafter, a fastener is installed within the fastener hole whilecontinuing to suction the air through the fastener hole to maintain theclamp-up of the first part and the second part (operation 1610). In oneor more illustrative examples, operation 1610 includes inserting thefastener into the fastener hole and forming a desired interference fit.In other illustrative examples, operation 1610 includes inserting thefastener into the fastener hole and installing fastener retaininghardware around the elongate portion of the fastener extending throughthe fastener hole.

Continuing to perform the suctioning of air in operation 1606 whileoperation 1610 is performed ensures that the clamp-up of the first partand the second part is maintained throughout the insertion of thefastener. The suctioning of the air through the hole may be continueduntil the entire fastener installation operation is completed. Forexample, suctioning may be continued to maintain the clamp-up until adesired interference fit is formed between the fastener and the fastenerhole.

FIG. 17 is a flowchart of a process for maintaining a clamp-up inaccordance with an example embodiment. Process 1700 illustrated in FIG.17 may be performed using, for example, assembly system 302 from FIG. 3or assembly system 413 from FIGS. 4-15 .

Process 1700 may begin by applying a first mechanical force to a firstpanel and a second mechanical force to a second panel to form a clamp-upof the first panel and the second panel (operation 1702). The firstpanel and the second panel are fuselage panels.

Operation 1702 may be performed by applying the first force using a toolcoupled to a first end effector, such as end effector 414 in FIG. 4 .The tool may be, for example, a nozzle, such as nozzle 420 in FIG. 4 .However, in other illustrative examples, the tool may be some other typeof member, element, or structural component. The second force is appliedusing a tool coupled to a second end effector, such as end effector 416in FIG. 4 .

Air is suctioned through a fastener hole passing through the first paneland the second panel from the first side of the clamp-up to provide agripping force that grips a wall defining the portion of the fastenerhole in the second part to thereby pull the second part towards thefirst part (operation 1704). In operation 1704, a partial vacuum isdrawn through the fastener hole and through the nozzle positionedrelative to the first panel at the first side of the clamp-up tomaintain the clamp-up.

In some illustrative examples, the fastener hole may be drilled as partof the process 1700. For example, the hole may be drilled between theperforming of operations 1702 and 1704. In other illustrative examples,the drilling of the fastener hole is part of a different process or isperformed prior to process 1700. For example, a first hole may bedrilled into the first panel and a second hole may be drilled into thesecond panel prior to these panels being “clamped-up.” The first paneland the second panel may then be positioned relative to each other suchthat the holes are aligned to form a single coaxial fastener hole priorto operation 1702. Afterwards, operation 1702 may be performed toinitiate process 1700.

With reference again to operation 1704, the suctioning of the air isperformed with sufficient suction power (e.g., a sufficient volumetricflow rate) to maintain the clamp-up of the first panel and the secondpanel without requiring the second mechanical force. The suctioningmaintains the clamp-up when the gripping force provided by thesuctioning is opposite and equal to the first mechanical force beingapplied. As the second panel is pulled towards the first panel, thefirst mechanical force causes the first panel to exert an equal reactiveforce on the second panel to thereby maintain the clamp-up.

Thereafter, the second mechanical force is removed while continuing tosuction the air through the fastener to maintain the clamp-up (operation1706). In some illustrative examples, process 1700 terminates. In otherillustrative examples, process 1700 includes installing a fastenerthrough the fastener hole from the second side of the clamp-up whilecontinuing to suction the air through the fastener hole from the firstside to maintain the clamp-up during fastener installation.

FIG. 18 is a flowchart of a process for establishing a clamp-up inaccordance with an example embodiment. Process 1800 illustrated in FIG.18 may be performed using, for example, assembly system 302 from FIG. 3or assembly system 413 from FIGS. 4-15 .

Process 1800 begins by aligning a first hole in a first panel with asecond hole in a second panel to define a through-hole (operation 1802).In these illustrative examples, operation 1802 is performed to at leastone of concentrically or coaxially align the first hole and the secondhole to define the through-hole. As one illustrative example, the firstpanel and the second panel are positioned relative to each other tocoaxially align the first hole with the second hole.

In some examples, the through-hole takes the form of a fastener hole,such as fastener hole 346 in FIG. 3 . In other examples, thethrough-hole takes the form of an index hole. For example, the firsthole and the second hole that are aligned in operation 1802 may bedeterminate assembly holes. The first and second holes may be coaxiallyaligned in operation 1802 to form an index hole. In one or moreillustrative examples, the first panel and the second panel in operation1802 may be fuselage panels, wing panels, or some other type of panels.

In still other illustrative examples, aligning the first hole in thefirst panel with the second hole in the second panel in operation 1802comprises drilling the first hole in the first panel and drilling thesecond hole in the second panel in a manner that coaxially aligns thesetwo holes and forms a through-hole through the first panel and thesecond panel.

Thereafter, a hole-wall that defines the second hole is gripped fromwithin the through-hole to pull the second panel towards the first paneland thereby establish a clamp-up of the first panel and the second panel(operation 1804). The clamp-up established in operation 1804 is asingle-sided clamp-up. Operation 1804 may be performed using, forexample, suction to grip the wall of the second hole. Air is suctionedthrough the through-hole such that the suctioning force provides agripping force to grip the wall of the second hole. In particular, apartial vacuum is drawn through the through-hole to thereby provide agripping force that grips the wall of the second hole. The partialvacuum is created despite the outward-facing end of the second holebeing an open end.

The clamp-up formed in operation 1804 may be maintained until one ormore operations are performed with respect to the through-hole. Forexample, the clamp-up may be maintained until either a temporaryfastener has been installed to maintain clamp-up or a drilling operationhas been performed to enlarge the through-hole to form a fastener hole.In some cases, the clamp-up is maintained until a fastener installationoperation has been performed to install a fastener within thethrough-hole, wherein the hole diameter is within tolerance for afastener installation. In some cases, the clamp-up may be maintaineduntil a drilling operation and a fastener installation operation havebeen performed. In still other examples, the clamp-up is maintaineduntil a fastener installation operation has been performed that includesinsertion of the fastener through the through-hole and the securing of anut or collar onto the fastener.

The single-sided clamp-up allows various tools and devices to be movedaround relative to the location of the through-hole from the oppositeside from where the partial vacuum is being drawn. The single-sidedclamp-up improves the efficiency of assembly processes.

FIG. 19 is a flowchart of a process for maintaining a single-sidedclamp-up in accordance with an example embodiment. Process 1900illustrated in FIG. 19 may be performed using, for example, assemblysystem 302 from FIG. 3 or assembly system 413 from FIGS. 4-15 . Inparticular, process 1900 may be performed using end effector 324 in FIG.3 or end effector 414 in FIGS. 4-15 .

Process 1900 includes suctioning, from a first side of a clamp-up of afirst part and a second part, air through a fastener hole formed by afirst hole in the first part and a second hole in the second part topull the second part towards the first part and thereby maintain theclamp-up of the first part and the second part (operation 1902). In oneor more illustrative examples, operation 1902 includes suctioning, fromthe first side of the clamp-up, the air through the fastener hole togrip a wall that defines the second hole in the second part to therebypull the second part towards the first part.

Optionally, process 1900 also includes removing the first mechanicalforce and second mechanical force after a force static equilibrium hasbeen established by a suction force produced by the suctioning and areactive force produced by a contact surface of a first tool at thefirst side of the clamp-up (operation 1904), with the processterminating thereafter. The first mechanical force may have been appliedby the first tool at the first side of the clamp-up. The secondmechanical force may have been applied by a second tool at a second sideof the clamp-up during the suctioning.

The suction force and the reactive force maintain the clamp-up of thefirst part and the second part without the first mechanical force andthe second mechanical force. In these illustrative examples, the firstmechanical force and the second mechanical force are applied at leastuntil the force static equilibrium is established by the suction forceproduced by the suctioning and the reactive force produced by thecontact surface of the first tool at the first side of the clamp-up.

Optionally, process 1900 further includes installing a fastener throughthe fastener hole while continuing to suction the air through thefastener hole (operation 1906). In operation 1906, the suctioning may beperformed at least until the fastener is fully installed.

FIG. 20 is a flowchart of a process for maintaining a single-sidedclamp-up in accordance with an example embodiment. Process 2000illustrated in FIG. 20 may be performed using, for example, assemblysystem 302 from FIG. 3 or assembly system 413 from FIGS. 4-15 .

Process 2000 begins by applying a first mechanical force and a secondmechanical force to a first part and a second part, respectively, toform the clamp-up (operation 2002). The first part forms a first side ofthe clamp-up and the second part forms a second side of the clamp-up.Next, air is suctioned, from the first side of the clamp-up, through afastener hole that extends through the first part and the second part topull the second part towards the first part (operation 2004). The firstmechanical force and the second mechanical force are removedsimultaneously while continuing to suction such that the suctioningindependently maintains clamp-up after removal of the first mechanicalforce and the second mechanical force (operation 2006), with the processterminating thereafter.

FIG. 21 is a flowchart of a process for maintaining a single-sidedclamp-up in accordance with an example embodiment. Process 2100illustrated in FIG. 21 may be performed using, for example, assemblysystem 302 from FIG. 3 or assembly system 413 from FIGS. 4-15 .

Process 2100 includes applying, by a first end effector at a first sideof a panel joint, a first force via contact with the first side of apanel joint (operation 2102). Process 2100 includes applying, by asecond end effector at a second side of the panel joint, a second forcethat is equal and opposite to the first force via contact with thesecond side of the panel joint to establish the clamp-up (operation2104). Further, process 2100 includes maintaining, by the first endeffector at the first side of the panel joint, the clamp-up after thesecond end effector is removed from contact with the second side(operation 2106), with the process terminating thereafter.

FIG. 22 is a flowchart of a process for maintaining a single-sidedclamp-up in accordance with an example embodiment. Process 2200illustrated in FIG. 22 may be performed using, for example, assemblysystem 302 from FIG. 3 or assembly system 413 from FIGS. 4-15 .

Process 2200 includes applying, by a single function end effectorpositioned at a first side of a panel joint, a first force to a firstpanel of the panel joint (operation 2202). Process 2200 further includesapplying, by the single function end effector, a second force that isequal and opposite to the first force to a second panel of the paneljoint to thereby provide the single-sided clamp-up of the first paneland the second panel (operation 2204), with the process terminatingthereafter.

In some illustrative examples, one or more operations may be performedprior to operation 2202. For example, in some cases, holes are createdin the first panel and the second panel prior to operation 2202. Theseholes may be formed via drilling, punching through the panels, or bysome other hole-making operation. These holes may be drilled while aninitial clamp-up of the panels has been established such that holes arealigned at least one of concentrically or coaxially to form athrough-hole (fastener hole). In other illustrative examples,determinate assembly holes may be formed in the panels individually andthen the panels later brought together to align the holes.

FIG. 23 is a flowchart of a process for providing a single-sidedclamp-up in accordance with an example embodiment. Process 2300illustrated in FIG. 23 may be performed using a single function endeffector, such as end effector 324 in FIG. 3 or end effector 414described in FIGS. 4-15 .

Process 2300 includes, optionally, aligning a first hole in a first partwith a second hole in a second part at least one of concentrically orcoaxially (operation 2302). In some examples, operation 2302 includesdrilling through a clamp-up formed by the first part and the second partto form the first hole and the second hole that are at least one ofconcentrically or coaxially aligned. In one or more illustrativeexamples, operation 2302 includes simply aligning the first part alreadyhaving the first hole with the second part already having the secondhole (e.g. determinate assembly holes) to thereby align the first holeand the second hole.

Next, process 2300 includes reaching through the first hole in the firstpart to grip a wall that defines the second hole in the second part tothereby pull the second part against the first part (operation 2304),with the process terminating thereafter. In some examples, operation2304 includes creating a pressure differential that acts on the wall ofthe second hole in the second part to pull the second part against thefirst part. In one or more examples, operation 2304 includes suctioning,by a suction device positioned relative to the first part, air throughthe first hole and the second hole to pull the second part towards thefirst part.

In this manner, process 2300 provides a method for establishing andmaintaining a clamp-up. In particular, a single-sided clamp-up isprovided.

The different example embodiments recognize and consider that it isdesirable to have methods and systems for improving the efficiency andproduction times for building assemblies. For example, the exampleembodiments recognize that it is desirable to have fully automatedmethods and systems for concurrently performing multiple fastenerinstallation operations along an assembly, such as a fuselage assembly.Further, the example embodiments recognize that using multiple endeffectors to provide single-sided clamp-ups at multiple locations at afirst side of the assembly enables single function end effectors to bemoved around on the opposite side of the assembly. This movement andinterchangeability of the single function end effectors on the oppositeside of the assembly enables multiple tasks to be concurrently performedin a manner that meets desired takt and production times.

Further, it is desirable to reduce end effector complexity becausecomplexity may result in more maintenance and slower production ratesthan desired. For example, highly complex multifunction end effectors,which are typically heavy, may require more maintenance and may be moredifficult to repair and/or replace as compared to single function endeffectors that are less complex. Further, because the multifunction endeffectors are typically very large and heavy, these types of endeffectors require large robots to move them around which makes thesemultifunction end effectors less nimble than desired (i.e. less easilymanipulatable than desired). Single function end effectors may thusrequire less down time, which may improve production rates.

In certain instances, switching between the different functions of amultifunction end effector may be more complex than desired or take moretime than desired, which may result in in slower production rates. Theexample embodiments, however, recognize and take into account thatrobotic devices with coupled with much lighter single function endeffectors can be easily and quickly swapped out with other roboticdevices having single function end effectors because of the smaller sizeand scale needed for these robotic devices. In this manner, productionrates may be improved. Because single function end effectors are muchlighter and less massive than multifunction end effectors, singlefunction end effectors may be moved around using smaller robotic devicesthat are nimbler than the larger robotic devices needed formultifunction end effectors.

With reference now to FIG. 24 , a block diagram of a manufacturingenvironment is depicted in accordance with an example embodiment.Manufacturing environment 300 in FIG. 24 is similar to manufacturingenvironment 300 from FIG. 3 . High-density robotic system 2400 includesa plurality of cells 2402. Each of cells 2402 is an example of oneimplementation for assembly system 302 described in FIG. 3 .

Cells 2402, which may also be referred to as robotic cells orhigh-density robotic cells, are used to build assembly 304. Aspreviously described, in some examples, assembly 304 takes the form offuselage assembly 313. In other examples, assembly 304 may take the formof a wing assembly or some other assembly for aircraft 314. Each ofcells 2402 includes robotic devices for performing various operations atlocations along assembly 304.

Cell 2404 is an example of one of plurality of cells 2402. Cell 2404includes robotic devices 2406 and robotic devices 2408, which may alsobe referred to as a first plurality of robotic devices and a secondplurality of robotic devices, respectively. Each of robotic devices 2406may be implemented in a manner similar to robotic device 318 describedin FIG. 3 . Further, each of robotic devices 2408 may be implemented ina manner similar to robotic device 320 in FIG. 3 , robotic device 322 inFIG. 3 , or a different type of robotic device.

In these illustrative examples, robotic devices 2406 are positioned atand used at first side 2409 of assembly 304, while robotic devices 2408are positioned at and used at second side 2411 of assembly 304. Whenassembly 304 takes the form of fuselage assembly 313, first side 2409 isaccessible from within an interior of fuselage assembly 313, whilesecond side 2411 is accessible from an exterior of fuselage assembly313. For example, first side 2409 may be at or near the inner mold line(IML) of fuselage assembly 313 (e.g., on the side facing the inner moldline), while second side 2411 may be at or near the outer mold line(OML) of fuselage assembly 313 (e.g., on the side facing the outer moldline). Accordingly, in some examples, robotic devices 2406 may bereferred to as IML robotic devices and robotic devices 2408 may bereferred to as OML robotic devices.

In these illustrative examples, robotic devices 2406 includes roboticdevice 2410, second robotic device 2412, and third robotic device 2414,which may be referred to as a first robotic device, a second roboticdevice, and a third robotic device, respectively. Similarly, roboticdevices 2408 includes robotic device 2416, robotic device 2418, androbotic device 2420, which may be referred to as a first robotic device,a second robotic device, and a third robotic device, respectively.

End effector 2422, end effector 2424, and end effector 2426 are coupledto robotic device 2410, robotic device 2412, and robotic device 2414,respectively. End effector 2422, end effector 2424, and end effector2426 may also be referred to as a first end effector, a second endeffector, and a third end effector, respectively. These end effectorsare single function end effectors. In one or more illustrative examples,each of end effectors 2422, 2424, and 2426 is implemented in a mannersimilar to end effector 324 described in FIG. 3 . For example, each ofend effectors 2422, 2424, and 2426 may include a nozzle and a suctiondevice similar to nozzle 332 and suction device 330, respectively, fromFIG. 3 .

End effector 2428, end effector 2430, and end effector 2432 are coupledto are coupled to robotic device 2416, robotic device 2418, and roboticdevice 2420, respectively. End effector 2428, end effector 2430, and endeffector 2432 may also be referred to as a first end effector, a secondend effector, and a third end effector, respectively. These endeffectors are single function end effectors.

In one or more illustrative examples, end effector 2428 is implementedin a manner similar to end effector 326. For example, end effector 2428may include a tool and a drilling tool (not shown) similar to tool 336and drilling tool 338, respectively, from FIG. 3 . End effector 2430 mayinclude an inspection device (not shown) for inspecting holes. In theseexamples, end effector 2432 is implemented in a manner similar to endeffector 328 in FIG. 3 . For example, end effector 2432 may include afastener insertion tool (not shown) similar to fastener insertion tool340 in FIG. 3 .

Cell 2404 is used to perform automated operation 2434 at each of aplurality of locations 2436 along assembly 304. In these illustrativeexamples, automated operation 2434 takes the form of a fastenerinstallation. Accordingly, each of locations 2436 may also be referredto as a fastener installation point. In one illustrative example, thefastener installation comprises a plurality of tasks (operations orsub-operations) such as, for example, without limitation, a clamp-uptask, a drilling task, a fastener insertion task, and an inspectiontask. Cell 2404 is used to perform these various tasks according topredetermined task sequence 2438.

In these illustrative examples, predetermined task sequence 2438requires that at any given one of locations 2436, the drilling task isperformed before the inspection task and the inspection test isperformed before the fastener insertion task. Depending on theimplementation, predetermined task sequence 2438 may include zero, one,two, or some other number of tasks may be performed before the drillingtask, between the drilling task and the inspection task, between theinspection task and the fastener insertion task, after the fastenerinsertion task, or a combination thereof.

Control system 315 controls cell 2404 to quickly, accurately, andefficiently perform automated operation 2434 at each of locations 2436along a selected portion of assembly 304 according to predetermined tasksequence 2438. Predetermined task sequence 2438 requires that theabove-described tasks are performed concurrently at various locations oflocations 2436. As used herein, concurrently means simultaneously orgenerally at the same time. For example, two tasks that begin at thesame time, end at the same time, or both may be considered as beingperformed concurrently. Further, when one task is performed over aduration of time that overlaps with the performance of another task,these two tasks may be considered as being performed concurrently. Instill other examples, two tasks that are performed within a given timeinterval may be considered as being performed concurrently, regardlessof whether the duration of time for the actual tasks themselves overlap.

For example, control system 315 may control cell 2404 to perform adrilling task at one location of locations 2436 at the same time (orwithin a same time interval) as an inspection task at another locationof locations 2436. Further, control system 315 may control cell 2404 toperform a drilling task at one location of locations 2436 at the sametime (or within a same time interval) as an inspection task at anotherlocation of locations 2436 and a fastener insertion task at yet anotherlocation of locations 2436. The inspection task may be a hole inspectiontask.

Thus, control system 315 controls cell 2404 to perform multiple fastenerinstallation operations concurrently by performing the specialized tasksthat make up these multiple fastener installation operations in asequential fashion but at multiple locations at the same time. Further,control system 315 may control all of cells 2402 to quickly, accurately,and efficiently perform automated operation 2434 at each of multiplelocations along different portions of assembly 304 concurrently.

In some illustrative examples, robotic devices 2406 of cell 2404 aresupported by platform 2440, while robotic devices 2408 of cell 2404 aresupported by platform 2442. In these examples robotic devices 2406 andtheir corresponding end effectors are sized to allow interchangeabilityof robotic devices 2406. In other words, robotic devices 2406 may bemovable on platform 2440 while platform 2440 remains stationary suchthat robotic devices 2406 can switch positions on platform 2440 withoutany assistance from platform 2440. This interchangeability allowspredetermined task sequence 2438 to be quickly, accurately, andefficiently performed.

As used herein, robotic devices are considered interchangeable when onerobotic device is swapped out for another robotic device. For example,control system 315 may control robotic devices 2408 such that whenrobotic device 2416 has performed its individualized, specialized taskat location A on assembly 304 and is moved to location B, robotic device2418 is moved into location A to perform its individualized, specializedtask. Similarly, when robotic device 2416 has performed itsindividualized, specialized task at location B and is moved to locationC, and when robotic device 2418 has performed its individualized,specialized task at location A and is moved to location B, roboticdevice 2420 is moved to location A to perform its individualized,specialized task. In this manner, robotic devices 2408 areinterchangeable at locations 2436 such that automated operation 2434 maybe performed according to predetermined task sequence 2438.

In these examples robotic devices 2408 and their corresponding endeffectors are sized to allow interchangeability of robotic devices 2408.In other words, robotic devices 2408 may be movable on platform 2442while platform 2442 remains stationary such that robotic devices 2408can switch positions on platform 2442 without any assistance fromplatform 2442. This interchangeability allows predetermined tasksequence 2438 to be performed quickly, accurately, and efficiently.

FIG. 25 is an illustration of another perspective view of manufacturingenvironment 100 from FIG. 1 in accordance with an example embodiment.Plurality of assembly systems 104 may also be referred to as a pluralityof cells 2500. In other words, each of plurality of assembly systems 104may be an example of one implementation for cell 2404 in FIG. 24 .

As previously described, plurality of assembly systems 104 is positionedrelative to fuselage assembly 102. Plurality of assembly systems 104includes assembly system 106, assembly system 2502, and assembly system2504, each of which may be referred to as a cell.

As discussed above, assembly system 106 includes robotic devices 108positioned relative to exterior 110 of fuselage assembly 102 (e.g., toperform tasks along the outer mold line side of fuselage assembly 102)and robotic devices 112 positioned relative to interior 114 (e.g., toperform tasks along the inner mold line side of fuselage assembly 102)of fuselage assembly 102. Robotic devices 108 and robotic devices 112work together to perform automated fastener installation operations forthe building of fuselage assembly 102. Robotic devices 108 are examplesof implementations of robotic devices 2408 in FIG. 24 and roboticdevices 112 are examples of implementations of robotic devices 2406 inFIG. 24 .

Further, assembly system 2502 includes robotic devices 2506 positionedrelative to interior 114 of fuselage assembly 102 and robotic devices2508 positioned relative to exterior 110 of fuselage assembly 102.Robotic devices 2506 and robotic devices 2508 work together to performautomated fastener installation operations. Robotic devices 2506 androbotic devices 2508 are examples of implementations of robotic devices2406 and robotic devices 2408, respectively, in FIG. 24 .

Assembly system 2504 includes robotic devices 2510 positioned relativeto interior 114 of fuselage assembly 102 and robotic devices 2512positioned relative to exterior 110 of fuselage assembly 102. Roboticdevices 2510 and robotic devices 2512 work together to perform automatedfastener installation operations. Each of these robotic devices performsa different, specialized task specific to interior 114 or exterior 110of fuselage assembly 102. Robotic devices 2510 and robotic devices 2512are examples of implementations of robotic devices 2406 and roboticdevices 2408, respectively, in FIG. 24 . Each of robotic devices 2510and robotic devices 2512 is coupled with a single function end effector.

Robotic devices 112, robotic devices 2506, and robotic devices 2510 aresupported by platform 202, platform 2516, and platform 2518,respectively. In some illustrative examples, examples, these platformsare movable platforms. As one illustrative example, each of platform202, platform 2516, and platform 2518 may be integrated with orotherwise coupled (directly or indirectly) to a corresponding movabledevice, such as an automated guided vehicle (AGV).

In one illustrative example, platform 202 includes, is part of, or iscoupled to a movement system (not shown in this view) that allowsplatform 202 to be moved along an interior of fuselage assembly 102. Forexample, platform 202 may be moved along a floor inside fuselageassembly 102 to thereby move robotic devices 112 relative to fuselageassembly 102.

Further, robotic devices 108, robotic devices 2508, and robotic devices2512 are supported by platform 200, platform 2522, and platform 2524,respectively. In some illustrative examples, examples, these platformsare movable platforms. As one illustrative example, each of platform200, platform 2522, and platform 2524 may be integrated with orotherwise coupled to a corresponding movable device, such as anautomated guided vehicle (AGV).

In some examples, platform 200, platform 2522, and platform 2524 areintegrated with or coupled to towers, which may be mobile towers. As oneillustrative example, robotic devices 108 are supported by platform 200,which Is coupled to tower 2526. Platform 200 is movable in a verticaldirection along tower 2526 (e.g., up and down tower 2526). Further,tower 2526 includes, is part of, or is coupled to automated guidedvehicle 2528, which allows platform 200, and thereby robotic devices108, to be positioned along a length of fuselage assembly 102.

Because each of the robotic devices in plurality of assembly systems 104is coupled to a single function end effector, multiple robotic devicesmay be supported on a platform and moved around the platform in aprecise and efficient manner for performing operations on fuselageassembly 102. In particular, each of the robotic devices in plurality ofassembly systems 104 performs its specialized task according to apredetermined task sequence.

FIG. 26 is an illustration of an enlarged end view of fuselage assembly102 being built in accordance with an example embodiment. This enlargedend view is illustrated from the view of lines 26-26 in FIG. 25 .Robotic devices 108 and robotic devices 112 work together to installfasteners that join fuselage panels together to build fuselage assembly102.

In this illustrative example, robotic devices 108 are coupled withsingle function end effectors for performing drilling, inspection, andfastener insertion tasks. These single function end effectors may beswitched out by being moved around relative to, for example, fastenerinstallation point 113 to perform their individual tasks. As previouslydescribed, a single function end effector is an end effector used toperform a single function per robotic device per fastener installationpoint. In this manner, multiple single function end effectors may becontrolled and coordinated to perform individualized, specialized tasksin a predetermined sequence. Accordingly, an automated operationcomprised of multiple such specialized tasks may be performed by thesesingle function end effectors working in a coordinated, serial manner.

In some cases, each of robotic devices 108 are moved around on platform200 in order to position its corresponding end effector for a particulartask relative to fastener installation point 113. In other cases,robotic devices 108 may remain stationary on platform 200 but may beused to move and position their end effectors relative to a nextlocation in order to position the proper end effector for a given taskrelative to fastener installation point 113.

FIG. 27 is an illustration of an enlarged perspective view of endeffectors 2700 coupled to robotic devices 112 from FIGS. 25-26 inaccordance with an example embodiment. This view of end effectors 2700is depicted with respect to arrow 27-27 shown in FIG. 26 . End effectors2700 include end effector 2702, end effector 2704, and end effector2706. End effector 2702, end effector 2704, and end effector 2706 areexamples of implementations for end effector 2422, end effector 2424,and end effector 2426, respectively.

Further, each of end effector 2702, end effector 2704, and end effector2706 may be implemented in a manner similar to end effector 324described in FIG. 3 and end effector 414 described in FIGS. 4-15 . Inthis illustrative example, end effector 2702 includes nozzle 2708 andsuction device 2710. End effector 2704 includes nozzle 2712 and suctiondevice 2714. End effector 2706 includes nozzle 2716 and suction device2718.

End effector 2702, end effector 2704, and end effector 2706 are used toprovide a single-sided clamp-up from interior 114 of fuselage assembly102 which allows robotic devices 108 in FIGS. 25-26 to facilitate theperforming of multiple tasks at multiple locations concurrently suchthat fastener installation operations are performed as these multiplelocations in a serial manner. In particular, robotic devices 2408 may bemoved around on platform 200 in FIGS. 25-26 and interchanged to performvarious tasks simultaneously at multiple fastener installation pointsbut according to a predetermined task sequence.

End effectors 2700 may each include a sensor system for use in guidingeach end effector to a particular fastener installation point. Thesensor system may include at least one of, for example, a laser distancesensor, an imaging device, or some other type of sensor.

As depicted, end effectors 2702, 2704, and 2706 are positioned relativeto fastener installation points 2720, 2722, and 2724, respectively. Inthis illustrative example, these fastener installation points are closetogether. The positioning of end effectors 2702, 2704, and 2706 so closeto each other, which allows end effectors 2702, 2704, and 2706 to bepositioned relative to fastener installation points 2720, 2722, and2724, respectively, may be referred to as a high-density setup.

In some illustrative examples, these fastener installation points atwhich different tasks are concurrently being performed may be adjacentto each other. In other examples, one or more locations may be presentbetween the fastener installation points at which different tasks areconcurrently being performed.

The size and shape of these end effectors allows them to be positionedin this high-density setup and allows easy and efficientinterchangeability of robotic devices 108 on platform 200. In otherwords, robotic devices 108 may be easily and quickly moved around onplatform 200 to switch up the positioning of end effectors 2702, 2704,and 2706 relative to fastener installation points 2720, 2722, and 2724,respectively.

FIG. 28 is an illustration of an enlarged perspective view of endeffectors 2800 coupled to robotic devices 108 from FIGS. 25-26 inaccordance with an example embodiment. This view of end effectors 2800is depicted with respect to arrow 28-28 in FIG. 26 . End effectors 2800include end effector 2802, end effector 2804, and end effector 2806. Endeffectors 2802, 2804, and 2806 are positioned along exterior 110 offuselage assembly 102 opposite of end effectors 2702, 2704, and 2706,respectively. End effector 2802, end effector 2804, and end effector2806 are examples of implementations for end effector 2428, end effector2430, and end effector 2432, respectively.

End effector 2802 may be implemented in a manner similar to end effector326 in FIG. 3 and end effector 416 in FIGS. 4-9 . For example, endeffector 2802 includes tool 2808 and drilling tool 2810, which may beimplemented similarly to tool 424 and drilling tool 426, respectively,of end effector 416 in FIGS. 4-9 .

End effector 2804 includes inspection device 2812. Inspection device2812 may be used to inspect, for example, a hole that was drilled usingdrilling tool 426 of end effector 2802. Inspection device 2812 ensuresthat the drilled hole meets hole tolerances and requirements forfastener installation. Hole tolerances and requirements may define aquality of the hole. For example, inspection device 2812 may be used toinspect at least one of a hole diameter, a roundness of the hole, anangle of the hole relative to the surface, a countersink depth, acountersink size, a countersink angle, or some other type of holefeature.

Inspection device 2812 may take a number of different forms. Forexample, without limitation, inspection device 2812 may include at leastone of a laser sensor, an imaging device, or some other type of sensor.

End effector 2806 may be implemented in a manner similar to end effector328 described in FIG. 3 and end effector 1100 described in FIGS. 11-13 .For example, end effector 2806 includes fastener insertion tool 2814,which may be implemented similarly to fastener insertion tool 1104 inFIGS. 11-13 .

End effectors 2800 may each include a sensor system for use in guidingeach end effector to a particular fastener installation point. Thesensor system may include at least one of, for example, a laser distancesensor, an imaging device, or some other type of sensor.

As depicted, end effectors 2802, 2804, and 2806 are positioned relativeto fastener installation points 2720, 2722, and 2724, respectively. Inthis illustrative example, these fastener installation points are closetogether but spaced apart (e.g., non-adjacent). For example, fastenerinstallation points 2720, 2722, and 2724 are spaced apart by threefastener installation points. This type of spacing may be used to ensurethat end effectors 2802, 2804, and 2806 do not collide. The positioningof end effectors 2802, 2804, and 2806 so close to each other such thatend effectors 2802, 2804, and 2806 are positioned relative to fastenerinstallation points 2816, 2818, and 2820, respectively, may be referredto as a high-density setup. This type of setup allows multipledifferent, specialized tasks to be performed concurrently. The size andshape of these end effectors allows them to be positioned in thishigh-density setup and allows easy and efficient interchangeability ofrobotic devices 108 on platform 200. In other words, robotic devices 108may be easily and quickly moved around on platform 200 to switch up thepositioning of end effectors 2802, 2804, and 2806 relative to themultiple fastener installation points, to thereby switch up thefunctions being performed at the fastener installation points.

Each of robotic devices 112 is coupled with an end effector that is usedto hold together the fuselage panels from the interior side of fuselageassembly 102 during the switching out of the single function endeffectors coupled to robotic devices 108. In other words, each ofrobotic devices 112 includes a single function end effector thatprovides a single-sided clamp-up. For example, after the end effector onone of robotic devices 108 has been used to perform its designated task,that end effector may be moved away from fastener installation point 113(e.g., to another installation point) to make room for a different endeffector. An end effector coupled to one of robotic devices 112 is usedto maintain the clamp-up of the fuselage panels from only the interiorside of fuselage assembly 102, while the end effectors of roboticdevices 108 are being switched around and used efficiently within ahigh-density robotic zone at exterior 110 of fuselage assembly 102.

FIG. 29 is a representational sequence diagram of the various stagesinvolved in a cell performing automated fastener installation operationsat multiple fastener installation points along an assembly in accordancewith an example embodiment. Cell 2900 is an example of oneimplementation for cell 2404 in FIG. 24 . Cell 2900 is used to performthe automated fastener installation operations on joint 2901. Inparticular, cell 2900 is used to perform these automated fastenerinstallation operations according to a predetermined task sequence, suchas predetermined task sequence 2438 in FIG. 24 .

Joint 2901 may also be referred to as an assembly, a lap splice, afuselage splice, or some other type of skin splice, depending on theimplementation. In one illustrative example, joint 2901 includes twoparts mated together. In some examples, these parts may be panels, suchas fuselage panels or wing panels.

Cell 2900 is used to install fasteners along joint 2901 according to apredetermined task sequence that includes first stage 2902, second stage2904, third stage 2906, fourth stage 2908, fifth stage 2910, and sixthstage 2912. The number and order of these stages is an example of onlyone implementation of the predetermined task sequence that may beperformed using cell 2900.

Cell 2900 includes end effector 2914, end effector 2916, and endeffector 2918, which are coupled to robotic devices (not shown) at firstside 2920 of joint 2901. End effectors 2914, 2916, and 2918 may beimplemented similarly to end effectors 2422, 2424, and 2426,respectively, from FIG. 24 . Further, cell 2900 includes drilling endeffector 2922, which is coupled to a robotic device (not shown) atsecond side 2921 of joint 2901. Drilling end effector 2922 may beimplemented similarly to end effector 2428 from FIG. 24 .

Cell 2900 is used to perform automated fastener installation operationsat fastener installation points 2915, 2917, and 2919. These fastenerinstallation points may be adjacent fastener installation points asshown, without any other fastener installation points between them.Alternatively, one or more other fastener installation points may bepresent between fastener installation point 2915 and fastenerinstallation point 2917, fastener installation point 2917 and fastenerinstallation point 2919, or both. This type of spacing apart of fastenerinstallation points is similar to that shown in FIG. 28 .

As further described below, the various end effectors of cell 2900 aremoved and positioned relative to these different fastener installationpoints by moving the robotic devices to which these end effectors arecoupled. Further, in some illustrative examples, the operations andmovement of the end effectors and robotic devices as described below arecontrolled by a control system, such as control system 315 in FIGS. 3and 24 .

At first stage 2902, end effector 2914, end effector 2916, and endeffector 2918 are positioned relative to fastener installation point2915, fastener installation point 2917, and fastener installation point2919, respectively. Further, drilling end effector 2922 is moved andpositioned relative to fastener installation point 2915 for use inperforming a specialized task at fastener installation point 2915.

In this illustrative example, at first stage 2902, end effector 2914 isaligned with drilling end effector 2922. Further, at first stage 2902,end effector 2914 and drilling end effector 2922 are used to establish aclamp-up of joint 2901 at fastener installation point 2915 and to drilla hole at fastener installation point 2915. These tasks may be performedin any of the number of ways described above.

In one illustrative example, end effector 2914 and drilling end effector2922 first establish a clamp-up of joint 2901. Drilling end effector2922 then drills a hole at fastener installation point 2915. Once thehole has been drilled, end effector 2914 then establishes a single-sidedclamp-up using any of the number of methods described above. Forexample, end effector 2914 may use suctioning to establish and maintainthe single-sided clamp-up. In other words, once the single-sidedclamp-up has been established, end effector 2914 is able to maintainthis clamp-up of joint 2901 at fastener installation point 2915 withoutfurther assistance from drilling end effector 2922.

At second stage 2904, drilling end effector 2922 is swapped out forinspection end effector 2924, while end effector 2914 maintains theclamp-up at fastener installation point 2915. As one illustrativeexample, at second stage 2904, drilling end effector 2922 is moved awayfrom fastener installation point 2915 and positioned relative tofastener installation point 2917.

As previously described, fastener installation point 2917 may beadjacent to fastener installation point 2915 without any other fastenerinstallation points in between them. Alternatively, fastenerinstallation point 2917 and fastener installation point 2915 may benon-adjacent (i.e. having one or more other fastener installation pointsbetween them). In this manner, drilling end effector 2922 may beconfigured to skip over one or more fastener installation points toreach fastener installation point 2917. For example, drilling endeffector 2922 may be controlled to only drill holes at every second,every third, every fourth, or every n^(th) fastener installation point.In some cases, the fastener installation points may be in differenthorizontal rows along joint 2901.

Further, at second stage 2904, inspection end effector 2924 is moved andpositioned relative to fastener installation point 2915 to perform anext specialized task at fastener installation point 2915. Inspectionend effector 2924 is used to inspect the hole drilled at fastenerinstallation point 2915, while end effector 2914 maintains the clamp-upat fastener installation point 2915. Concurrently, end effector 2916 anddrilling end effector 2922 establish a clamp-up at fastener installationpoint 2917. Further, drilling end effector 2922 drills a hole atfastener installation point 2917. Once the hole is drilled, end effector2916 is used to establish and independently maintain a single-sidedclamp-up of joint 2901 at fastener installation point 2917. Thissingle-sided clamp-up allows drilling end effector 2922 to be swappedout for inspection end effector 2924 at fastener installation point 2917in the next stage.

At third stage 2906, drilling end effector 2922 is moved away fromfastener installation point 2917 and positioned relative to fastenerinstallation point 2919; inspection end effector 2924 is moved andpositioned relative to fastener installation point 2917 to perform anext specialized task at fastener installation point 2917; and fastenerinsertion end effector 2926 is moved and positioned relative to fastenerinstallation point 2915 to perform a next specialized task at fastenerinstallation point 2915.

Fastener insertion end effector 2926 is used to install a fastener atfastener installation point 2915. In some illustrative examples,fastener insertion end effector 2926 is able to install the fastener onits own. For example, installing the fastener may include inserting afastener within the hole drilled at fastener installation point 2915until a desired interference fit is formed. In other examples, fastenerinsertion end effector 2926 is used to insert a fastener in the holedrilled at fastener installation point 2915, while end effector 2914 isused to complete installation of the fastener. End effector 2914maintains the clamp-up at fastener installation point 2915 until thefastener has been fully installed at fastener installation point 2915,after which, end effector 2914 is no longer needed to maintain theclamp-up at fastener installation point 2915.

Concurrently with the installation of the fastener at fastenerinstallation point 2915, inspection end effector 2924 inspects the holedrilled at fastener installation point 2917. Further, concurrently withthe installation of the fastener at fastener installation point 2915 andthe inspection of the hole at fastener installation point 2917, endeffector 2918 and drilling end effector 2922 are used to establish aclamp-up at fastener installation point 2919. Further, drilling endeffector 2922 drills a hole at fastener installation point 2919. Oncethe hole is drilled, end effector 2918 is used to establish and maintaina single-sided clamp-up of joint 2901 at fastener installation point2919. This single-sided clamp-up allows drilling end effector 2922 to beswapped out for inspection end effector 2924 at fastener installationpoint 2919 at the next stage.

At fourth stage 2908, drilling end effector 2922 is moved and positionedrelative to a new fastener installation point 2928; inspection endeffector 2924 is moved and positioned relative to fastener installationpoint 2919; and fastener insertion end effector 2926 is moved andpositioned relative to fastener installation point 2917. Further, endeffector 2914 is moved and positioned relative to fastener installationpoint 2928.

At fourth stage 2908, end effector 2914 and drilling end effector 2922establish a clamp-up at fastener installation point 2928. Drilling endeffector 2922 drills a hole at fastener installation point 2928. Endeffector 2914 then establishes and maintains a single-sided clamp-up atfastener installation point 2928. Concurrently with the tasks beingperformed by end effector 2914 and drilling end effector 2922,inspection end effector 2924 inspects the hole drilled at fastenerinstallation point 2919, while fastener insertion end effector 2926installs a fastener in the hole drilled at fastener installation point2917. Once the fastener has been installed at fastener installationpoint 2917, end effector 2918 is no longer needed to maintain theclamp-up at fastener installation point 2917.

In this illustrative example, fastener installation point 2928 may bethe final location along joint 2901 at which a fastener is to beinstalled. However, in other illustrative examples, any other number offastener installation points may be present between fastenerinstallation point 2917 and fastener installation point 2928 or afterfastener installation point 2928.

At fifth stage 2910, drilling end effector 2922 is moved away from joint2901; inspection end effector 2924 is moved and positioned relative tofastener installation point 2928; and fastener insertion end effector2926 is moved and positioned relative to fastener installation point2919.

Inspection end effector 2924 inspects the hole drilled at fastenerinstallation point 2928, while fastener insertion end effector 2926concurrently installs a fastener at fastener installation point 2919.Once the fastener has been installed at fastener installation point2919, end effector 2918 is no longer needed to maintain the clamp-up atfastener installation point 2919.

In other illustrative examples, joint 2901 may include many otherlocations after fastener installation point 2928 at which fasteners areto be installed. In these examples, drilling end effector 2922 wouldonly move away from joint 2901 after it has been used to drill holes ateach of these locations.

For example, any number of other stages may be present between fourthstage 2908 and fifth stage 2910. Drilling end effector 2922, inspectionend effector 2924, and fastener insertion end effector 2426 may continuemoving in the serial manner shown to perform concurrent tasks at otherfastener installation points.

At sixth sage 2912, inspection end effector 2924 is moved away fromjoint 2901 and fastener insertion end effector 2926 is moved andpositioned relative to fastener installation point 2928. Fastenerinsertion end effector 2926 installs a fastener at fastener installationpoint 2928. Once the fastener has been installed at fastenerinstallation point 2928, end effector 2914 is no longer needed tomaintain the clamp-up at fastener installation point 2928.

In this manner, the installation of fasteners at fastener installationpoints 2915, 2916, 2918, and 2928 may be automated by cell 2900. Cell2900 quickly, accurately, and efficiently performs these automatedfastener installation operations because of the interchangeability ofthe end effectors of cell 2900.

As described above via the various stages illustrated in FIG. 29 , cell2900 is used to perform different tasks (e.g., drilling, inspection,fastener insertion and installation) of a fastener installationoperation at multiple locations concurrently, while still ensuring thatthe tasks are performed at any given fastener installation point in theproper sequence for the fastener installation operation. Cell 2900 is ahigh-density robotic cell that allows different tasks of a fastenerinstallation operation to be performed in a small volumetric space.

In these illustrative examples, the interchanging of the various endeffectors is tailored to meet selected takt time and productionrequirements. In other words, the moving and re-positioning of endeffectors may be controlled and timed based on the selected takt timeand production requirements. Further, the movement of these endeffectors via the robotic devices to which they are coupled may becontrolled and coordinated by the control system (e.g., control system315 in FIGS. 3 and 24 ) to prevent collisions of the end effectors orrobotic devices during movement.

FIG. 30 is a flowchart of a process for performing automated operationsfor an assembly in accordance with an example embodiment. Process 3000illustrated in FIG. 30 may be performed using, for example, a cell, suchas cell 2404 described in FIG. 24 . Process 3000 is a fully automatedprocess.

Process 3000 may begin by positioning a first plurality of roboticdevices relative to a first side of an assembly for an aircraft(operation 3002). In operation 3002, the first plurality of roboticdevices may be, for example, robotic devices 2406 in FIG. 24 . In oneillustrative example, the assembly is a fuselage assembly and the firstarea is a first volumetric area located within the interior of thefuselage assembly.

Next, a second plurality of robotic devices is positioned relative to asecond side of the assembly (operation 3004). In operation 3004, thesecond plurality of robotic devices may be, for example, robotic devices2408 in FIG. 24 . In one illustrative example, the second area is asecond volumetric area located at the exterior of the fuselage assembly.Further, each of the second plurality of robotic devices is used toperform a corresponding task.

A plurality of tasks is performed at each of a plurality of locations onthe assembly using the first plurality of robotic devices and the secondplurality of robotic devices, the second plurality of robotic devicesconcurrently performing tasks at the plurality of locations while thefirst plurality of robotic devices independently maintain a clamp-up ateach of the plurality of locations (operation 3006), with the processterminating thereafter. In operation 3006, the plurality of tasks areautomated tasks. In these illustrative examples, the plurality of tasksincludes a drilling task, an inspection task (e.g., a hole inspectiontask), and a fastener installation task.

FIG. 31 is a flowchart of a process for performing automated operationsto build a fuselage assembly for an aircraft in accordance with anexample embodiment. Process 3100 illustrated in FIG. 31 may be performedusing, for example, high-density robotic system 2400 described in FIG.24 . In particular, process 3100 is performed using plurality of cells2402 of high-density robotic system 2400 in FIG. 24 . Process 3100 is afully automated process.

Process 3100 begins by positioning a plurality of cells relative tocorresponding sections of a fuselage assembly for an aircraft (operation3102). In operation 3102, the plurality of cells is a plurality ofrobotic cells. Each of the plurality of cells includes a first pluralityof robotic devices positioned relative to an interior of the fuselageassembly and a second plurality of robotic devices positioned relativeto an exterior of the fuselage assembly.

Thereafter, an automated operation is performed at each of a pluralityof locations at each of the corresponding sections of the fuselageassembly concurrently using the plurality of cells, wherein roboticdevices of each cell are interchangeable to perform different tasks ofthe automated operation according to a predetermined task sequence(operation 3104), with the process terminating thereafter. This type ofcoordinated operation of the plurality of cells and the robotic deviceswithin each cell of the plurality of cells ensures efficiency andimproved overall production times.

FIGS. 32A, 32B, and 32C are flowcharts of a process for performingautomated fastener installation operations along a joint in accordancewith an example embodiment. Process 3200 illustrated in FIGS. 32A, 32Band 32C may be performed using, for example, a cell, such as cell 2404described in FIG. 24 . Process 3200 is a fully automated process.Further, process 3200 is an example of one way in which multipleautomated operations, such as automated operation 2434, may be performedaccording to predetermined task sequence 2438 described in FIG. 24 .

Process 3200 begins by positioning, at a first side of a joint, a firstend effector at a first location along a joint, a second end effector ata second location along the joint, and a third end effector at a thirdlocation along the joint (operation 3202). The joint includes a firstpart and a second part, which may be, for example, skin panels. Forexample, the joint may be a lap splice comprised of fuselage or wingskin panels. In one example, the joint includes a first panel that formsa first side of the joint and a second panel that forms a second side ofthe joint. The first location is a first fastener installation point.

In these illustrative examples, operation 3202 includes generallyaligning a nozzle of the first end effector with the first location. Forexample, the nozzle may be aligned with respect to an axis extendingthrough the joint at the first location.

In one illustrative example, the first end effector, the second endeffector, and the third end effector are positioned at the firstlocation, the second location, and the third location, respectively, atthe same time. In other illustrative examples, operation 3202 may beperformed in stages during process 3200. For example, the first endeffector may be positioned at the first location before operation 3204,but the second end effector may be positioned at the second locationduring operation 3208 or operation 3210 described further below orbetween these two operations. Similarly, in some cases, the third endeffector may be positioned at the third location during operation 3218or operation 3220 described further below or between these twooperations.

Thereafter, a drilling end effector is positioned relative to the firstlocation at a second side of the joint (operation 3204). In theseillustrative examples, operation 3204 includes generally aligning a toolof the drilling end effector with the first location. For example, thetool may be aligned with respect to the axis extending through the jointat the first location.

Next, a clamp-up sequence is performed at the first location using thefirst end effector and the drilling end effector until at least thefirst end effector independently maintains a clamp-up at the firstlocation (operation 3206). Operations 1602-1608 in FIG. 16 are anexample of one manner in which a clamp-up sequence, such as the clamp-upsequence in operation 3206, may be performed. Operations 1602-1608 maybe used to implement operation 3206 when a hole (e.g., a fastener holeor a through-hole) needs to be drilled at the first location in order toinstall a fastener at the first location.

For example, the first end effector may be used to apply the firstmechanical force in operation 1602 as well as perform the suctioning inoperation 1606. Further, the drilling end effector may be used to applythe second mechanical force in operation 1602 as well as perform thedrilling task in operation 1604. With respect to operation 1602, thefirst and second mechanical forces are equal and opposite mechanicalforces.

Operations 1702-1704 are an example of another way in which the clamp-upsequence may be performed. For example, the first end effector may beused to apply the first mechanical force in operation 1702 as well asperform the suctioning in operation 1704. The drilling end effector maybe used to apply the second mechanical force in operation 1702.

Operations 1702-1704 may be used to implement operation 3206 whendeterminate assembly holes are already present in the first panel andthe second panel of the joint. Aligning the holes in these two panelswith forms a through-hole extending through the joint and within which afastener can be installed.

In these illustrative examples, at the end of the clamp-up sequence ofoperation 3206, a single-sided clamp-up is provided at the firstlocation. This single-sided clamp-up is independently maintained by thefirst end effector. Providing the single-sided clamp-up may be performedin a number of different ways. For example, providing a single-sidedclamp-up may include performing operations similar to 1606 and 1608 inFIG. 16 , operations 1704 and 1706 in FIG. 17 , operation 1804 in FIG.18 , operations 1902 and 1904 in FIG. 19 , operations 2004 and 2006 inFIG. 20 , operations 2102, 2104, and 2106 in FIG. 21 , operations 2202and 2204 in FIG. 22 , or operation 2304 in FIG. 23 .

Thereafter, the drilling end effector is moved and positioned relativeto the second location along the joint, with the first end effectorcontinuing to independently maintain the clamp-up at the first location(operation 3208). An inspection end effector is then moved andpositioned relative to the first location (operation 3210).

A clamp-up sequence is performed at the second location using the secondend effector and the drilling end effector (operation 3212). Operations1602-1608 in FIG. 16 are an example of one manner in which a clamp-upsequence, such as the clamp-up sequence in operation 3212, may beperformed. For example, the second end effector may be used to apply thefirst mechanical force in operation 1602 as well as perform thesuctioning in operation 1606. Further, the drilling end effector may beused to apply the second mechanical force in operation 1602 as well asperform the drilling task in operation 1604.

Operations 1702-1704 are an example of another way in which the clamp-upsequence may be performed. For example, the second end effector may beused to apply the first mechanical force in operation 1702 as well asperform the suctioning in operation 1704. The drilling end effector maybe used to apply the second mechanical force in operation 1702.

In these illustrative examples, at the end of the clamp-up sequence ofoperation 3212, a single-sided clamp-up is provided at the firstlocation. This single-sided clamp-up is independently maintained by thefirst end effector. As previously described, the single-sided clamp-upmay be provided in a number of different ways.

The hole at the first location is inspected using the inspection endeffector, while the first end effector continues to independentlymaintain the clamp-up at the first location (operation 3214). In theseillustrative examples, operation 3212 and operation 3214 are performedconcurrently.

The drilling end effector is then moved and positioned relative to thethird location along the joint, with the second end effector continuingto independently maintain the clamp-up at the second location (operation3216). The inspection end effector is then moved and positioned relativeto the second location (operation 3218). Further, a fastener insertionend effector is moved and positioned relative to the first location(operation 3220).

A clamp-up sequence is performed at the third location using the thirdend effector and the drilling end effector (operation 3222). Operations1602-1608 in FIG. 16 are an example of one manner in which a clamp-upsequence, such as the clamp-up sequence in operation 3222, may beperformed. For example, the third end effector may be used to apply thefirst mechanical force in operation 1602 as well as perform thesuctioning in operation 1606. Further, the drilling end effector may beused to apply the second mechanical force in operation 1602 as well asperform the drilling task in operation 1604.

Operations 1702-1704 are an example of another way in which the clamp-upsequence may be performed. For example, the third end effector may beused to apply the first mechanical force in operation 1702 as well asperform the suctioning in operation 1704. The drilling end effector maybe used to apply the second mechanical force in operation 1702.

In these illustrative examples, at the end of the clamp-up sequence ofoperation 3222, a single-sided clamp-up is provided at the firstlocation. This single-sided clamp-up is independently maintained by thefirst end effector. As previously described, the single-sided clamp-upmay be provided in a number of different ways.

The hole at the second location is inspected using the inspection endeffector, while the second end effector continues to independentlymaintain the clamp-up at the second location (operation 3224). Afastener is installed at the first location using the fastener insertionend effector, while the first end effector continues to independentlymaintain the clamp-up at the first location (operation 3226). In theseillustrative examples, operations 3222, 3224, and 3226 are performedconcurrently.

Thereafter, the drilling end effector is moved away from the thirdlocation with the third end effector continuing to independentlymaintain the clamp-up at the third location (operation 3228). Theinspection end effector is moved and positioned relative to the thirdlocation (operation 3230). The fastener insertion end effector is movedand positioned relative to the second location (operation 3232).

The hole at the third location is inspected using the inspection endeffector, while the third end effector continues to independentlymaintain the clamp-up at the third location (operation 3234). A fasteneris installed at the second location using the fastener insertion endeffector, while the first end effector continues to independentlymaintain the clamp-up at the first location (operation 3236). In theseillustrative examples, operations 3234 and 3236 are performedconcurrently.

Thereafter, the inspection end effector is moved away from the thirdlocation with the third end effector continuing to independentlymaintain the clamp-up at the third location (operation 3238). Thefastener insertion end effector is moved and positioned relative to thethird location (operation 3240). A fastener is installed at the thirdlocation using the fastener insertion end effector, while the third endeffector continues to independently maintain the clamp-up at the thirdlocation (operation 3242).

The fastener insertion end effector, the first end effector, the secondend effector, and the third end effector are moved away from the joint(operation 3244), with the process terminating thereafter. Althoughthese end effectors are described as being moved away in operation 3244,one or more of these end effectors may be moved at various times duringthe overall process 3200.

For example, the first end effector may be moved away from the firstlocation after the fastener is installed at the first location. Thesecond end effector may be moved away from the second location after thefastener is installed at the second location. Further, the third endeffector and the fastener insertion end effector may both be moved awayfrom the third location after the third fastener has been installed atthe third location.

FIG. 33 is a flowchart of a process for performing automated fastenerinstallation operations along a fuselage assembly for an aircraft inaccordance with an example embodiment. Process 3300 illustrated in FIG.33 may be performed using, for example, a cell, such as cell 2404described in FIG. 24 . Process 3300 is a fully automated process.

Process 3300 begins by positioning a first platform supporting a firstplurality of robotic devices of a robotic cell within an interior of afuselage assembly relative to a selected section of the fuselageassembly (operation 3302). Next, a second platform supporting a secondplurality of robotic devices of the robotic cell is positioned along anexterior of the fuselage assembly relative to the selected section ofthe fuselage assembly (operation 3304). In operations 3302 and 3304, thefirst and second platforms are positioned to provide coordinatedoperation of the first plurality of robotic devices and the secondplurality of robotic devices.

Operations 3302 and 3304 may be performed in a number of different ways.In one illustrative example, each of the first platform and the secondplatform is directly or indirectly coupled to a mobile device, such asan automated guided vehicle. The mobile device is able to move the firstplatform and the second platform relative to the fuselage assembly.

In another illustrative example, the first platform and the secondplatform are stationary. In this example, the fuselage assembly may besupported by a mobile support system, which may include one or moreautomated guided vehicles, that is used to move the fuselage assemblyrelative to the first and second platforms.

Thereafter, automated fastener installation operations are performed atselected fastener installation points on the selected section of thefuselage assembly using a first plurality of end effectors coupled tothe first plurality of robotic devices and a second plurality of endeffectors coupled to the second plurality of robotic devices, with thefirst plurality of end effectors being used to provide single-sidedclamp-up at the selected fastener installation points (operation 3306),with the process terminating thereafter. Operation 3308 includestailoring interchanging of the second plurality of robotic devices, andthereby the second plurality of end effectors, to meet selected takttime and production requirements.

The single-sided clamp-up provided by the first plurality of endeffectors enables the second plurality of robotic devices, and therebythe second plurality of end effectors, to be moved around the secondplatform and switched out at the various fastener installation points.Movement of the second plurality of robotic devices may be coordinatedbased on the time needed to perform the tasks that are performedconcurrently.

The “takt” time for a stage or phase is the time interval within whichany one or more of the tasks are to be performed alone or concurrently.The “takt” time may be selected, for example, based on the task havingthe longest duration. In one illustrative example, drilling a hole takesabout 4 seconds; inspection of the hole takes about 15 seconds; andinstalling a fastener in the hole may take about 5 seconds. Thus, the“takt time” for this stage or phase may be selected as 20 seconds. Inother words, coordinate movement and swapping of the second plurality ofrobotic devices is set to occur every 20 seconds.

Although process 3300 is described with respect to a single roboticcell. Process 3300 may be repeated any number of additional times usingdifferent robotic cells positioned relative to different sections of thefuselage assembly. As one illustrative example, three differentinstances of process 3300 may be performed by three different roboticcells concurrently. In this manner, the overall time and resourcesneeded to perform fastener installation operations at the desiredfastener installation points along fuselage assembly is greatly reduced.

The robotic cells (i.e. high-density robotic cells) form a high-densityrobotic system that improves overall efficiency, simplifies the fastenerinstallation process, and reduces the overall production time forbuilding the fuselage assembly. The high-density robotic systemstreamlines the various tasks involved in fastener installation andprovides a high-efficiency continuous-flow production system. Thecontinuous flow is maintained by the movement of at least one of thefirst platform relative to the fuselage assembly, the second platformrelative to the fuselage assembly, or the fuselage assembly relative toat least one of the first or second platforms.

FIG. 34 is a flowchart of a process for performing automated operationsusing a high-density robotic cell in accordance with an exampleembodiment. Process 3400 illustrated in FIG. 34 may be performed using,for example, a cell, such as cell 2404 described in FIG. 24 . Process3400 is a fully automated process.

Process 3400 includes positioning a platform supporting a plurality ofdevices relative to an assembly (operation 3402). In operation 3402, theassembly may be a fuselage assembly, such as fuselage assembly 313 inFIG. 3 . Process 3400 further includes performing a plurality ofdifferent tasks at each location of a plurality of locations along anassembly according to a predetermined task sequence using a plurality ofrobotic devices, the plurality of robotic devices being used to performat least two of the plurality of different tasks for at least twodifferent locations of the plurality of locations concurrently within ahigh-density robotic zone, during at least one stage in thepredetermined task sequence (operation 3404).

FIG. 35 is a flowchart of a process for installing fasteners at aplurality of locations along a joint in accordance with an exampleembodiment. Process 3500 illustrated in FIG. 35 may be performed using,for example, a cell, such as cell 2404 described in FIG. 24 . Process3500 is a fully automated process.

Process 3500 includes positioning a plurality of single function endeffectors relative to selected locations of a plurality of locationsalong a joint to form a high-density setup, the selected locations beingnon-adjacent (operation 3502). The plurality of locations may belocations at which fasteners are to be installed. These locations may bereferred to as fastener installation points. Two locations that arenon-adjacent means that one or more other locations may be presentbetween these two locations. In other illustrative examples, twonon-adjacent locations are locations that are not horizontally adjacent.For example, the two non-adjacent locations may be on different rows. Insome cases, the two non-adjacent locations may be vertically aligned buton different rows.

Process 3500 further includes performing a plurality of different tasksfor a fastener installation operation concurrently at selected locationsof the plurality of locations using the plurality of single function endeffectors positioned relative to the selected locations in thehigh-density setup (operation 3504). The plurality of different tasksmay include for example, without limitation, a drilling task and aninspection task; an inspection task and a fastener insertion task; or adrilling task, an inspection task, and a fastener insertion task. Insome illustrative examples, a task may be performing a clamp-up sequenceusing two single function end effectors (e.g., a drilling end effectorand an end effector with a nozzle and suction device).

FIG. 36 is a flowchart of a process for providing multiple single-sidedclamp-ups in accordance with an example embodiment. Process 3600illustrated in FIG. 36 may be performed using, for example, a cell, suchas cell 2404 described in FIG. 24 . Process 3600 is a fully automatedprocess.

Process 3600 includes establishing a two-sided clamp-up at a firstfastener installation point using a first robotic device at a first sideof a joint and a second robotic device at a second side of the joint(operation 3602). Next, the two-sided clamp-up at the first fastenerinstallation point is converted to a single-sided clamp-up using thefirst robotic device (operation 3604). The second robotic device is thenmoved along the second side of the joint to a second fastenerinstallation point, while maintaining the single-sided clamp-up at thefirst fastener installation point using only the first robotic device(operation 3606). Thereafter, a third robotic device is moved along thesecond side of the joint to the first fastener installation point, whilemaintaining the single-sided clamp-up at the first fastener installationpoint using only the first robotic device (operation 3608).

Another two-sided clamp-up is then established at the second fastenerinstallation point using a fourth robotic device at the first side ofthe joint and the second robotic device at the second side of the joint(operation 3610). The two-sided clamp-up at the second fastenerinstallation point is converted to single-sided clamp-up using thefourth robotic device (operation 3612).

Thus, in this manner, process 3600 illustrates how multiple single-sidedclamp-ups may be established in a serial manner. By providing thesingle-sided clamp-ups in this manner, the various tasks involved infastener installation may be also automated in a serial manner.

FIG. 37 is a flowchart of a process for providing multiple single-sidedclamp-ups in accordance with an example embodiment. Process 3700illustrated in FIG. 36 may be performed using, for example, ahigh-density robotic system, such as high-density robotic system 2400 inFIG. 24 , which comprises cells 2402. Process 3700 is a fully automatedprocess.

Process 3700 includes determining a sequence of operations to beperformed by a plurality of cells on a splice (operation 3702). Thesequence of operations is performed on the splice using the plurality ofcells, each cell of the plurality of cells including a first pluralityof robotic devices located in a first high-density robotic zone at afirst side of the splice and a second plurality of robotic deviceslocated in a second high-density robotic zone at a second side of thesplice (operation 3704), with the process terminating thereafter.

Operation 3702 may be performed in different ways. In one illustrativeexample, the sequence for each of the plurality of cells is determinedsuch that one cell is used to perform a fastener installation operationat every n^(th) location along a length of a structure (e.g., across allof the plurality of high-density robotic zones or areas). Another cellmay then be determined for use in performing a fastener installationoperation at every m^(th) location along the length of the structure tothereby “fill in” the locations not worked on by the first cell.Depending on the implementation, “m” and “n” may be the same ordifferent.

For example, operation 3707 includes a first cell beginning fastenerinstallation operations at a first location along the splice at onestage in the sequence and a second cell beginning fastener installationoperations at a second location along the spice after a period of timehas passed at another stage in the sequence. The first location and thesecond location may be different such that the second cell beginsfilling in the locations skipped by the first cell after the first cellhas moved to a different stage in the sequence of operations.

In other illustrative examples, each cell is selected for performing allof the fastener installation operations needed for a correspondinghigh-density robotic zone or area. In this manner, each cell isdesignated for a specific corresponding high-density robotic zone areaaround the splice. In one illustrative example, the first plurality ofrobotic devices and the second plurality of robotic devices of a firstcell in the plurality of cells perform all fastener installationoperations for one section along the splice and the first plurality ofrobotic devices and the second plurality of robotic devices of a secondcell in the plurality of cells perform all fastener installationoperations for a different section along the splice. Each section alongthe splice may be associated with two corresponding high-density roboticzones, one of either side of the section.

Using process 3700, fasteners may be installed using the plurality ofcells according to any number of different types of sequences based onefficiency. For example, the determination in operation 3702 may resultin multiple cells operating simultaneously within a single high-densityrobotic area around the splice. In other cases, each cell may bedesignated to perform all of the operations needed in a givenhigh-density robotic area around the splice. In still other cases, theplurality of cells may be used together in a coordinated manner toperform the different operations needed along the entire length of thesplice.

Turning now to FIG. 38 , an illustration of a data processing system inthe form of a block diagram is depicted in accordance with an exampleembodiment. Data processing system 3800 may be used to implement controlsystem 315 in FIG. 3 . As depicted, data processing system 3800 includescommunications framework 3802, which provides communications betweenprocessor unit 3804, storage devices 3806, communications unit 3808,input/output unit 3810, and display 3812. In some cases, communicationsframework 3802 may be implemented as a bus system.

Processor unit 3804 is configured to execute instructions for softwareto perform a number of operations. Processor unit 3804 may comprise anumber of processors, a multi-processor core, and/or some other type ofprocessor, depending on the implementation. In some cases, processorunit 3804 may take the form of a hardware unit, such as a circuitsystem, an application specific integrated circuit (ASIC), aprogrammable logic device, or some other suitable type of hardware unit.

Instructions for the operating system, applications, and/or programs runby processor unit 3804 may be located in storage devices 3806. Storagedevices 3806 may be in communication with processor unit 3804 throughcommunications framework 3802. As used herein, a storage device, alsoreferred to as a computer readable storage device, is any piece ofhardware capable of storing information on a temporary and/or permanentbasis. This information may include, but is not limited to, data,program code, and/or other information.

Memory 3814 and persistent storage 3816 are examples of storage devices3806. Memory 3814 may take the form of, for example, a random-accessmemory or some type of volatile or non-volatile storage device.Persistent storage 3816 may comprise any number of components ordevices. For example, persistent storage 3816 may comprise a hard drive,a flash memory, a rewritable optical disk, a rewritable magnetic tape,or some combination of the above. The media used by persistent storage3816 may or may not be removable.

Communications unit 3808 allows data processing system 3800 tocommunicate with other data processing systems and/or devices.Communications unit 3808 may provide communications using physicaland/or wireless communications links.

Input/output unit 3810 allows input to be received from and output to besent to other devices connected to data processing system 3800. Forexample, input/output unit 3810 may allow user input to be receivedthrough a keyboard, a mouse, and/or some other type of input device. Asanother example, input/output unit 3810 may allow output to be sent to aprinter connected to data processing system 3800.

Display 3812 is configured to display information to a user. Display3812 may comprise, for example, without limitation, a monitor, a touchscreen, a laser display, a holographic display, a virtual displaydevice, and/or some other type of display device.

In this illustrative example, the processes of the different exampleembodiments may be performed by processor unit 3804 usingcomputer-implemented instructions. These instructions may be referred toas program code, computer usable program code, or computer readableprogram code and may be read and executed by one or more processors inprocessor unit 3804.

In these examples, program code 3818 is located in a functional form oncomputer readable media 3820, which is selectively removable, and may beloaded onto or transferred to data processing system 3800 for executionby processor unit 3804. Program code 3818 and computer readable media3820 together form computer program product 3822. In this illustrativeexample, computer readable media 3820 may be computer readable storagemedia 3824 or computer readable signal media 3826.

Computer readable storage media 3824 is a physical or tangible storagedevice used to store program code 3818 rather than a medium thatpropagates or transmits program code 3818. Computer readable storagemedia 3824 may be, for example, without limitation, an optical ormagnetic disk or a persistent storage device that is connected to dataprocessing system 3800.

Alternatively, program code 3818 may be transferred to data processingsystem 3800 using computer readable signal media 3826. Computer readablesignal media 3826 may be, for example, a propagated data signalcontaining program code 3818. This data signal may be an electromagneticsignal, an optical signal, and/or some other type of signal that can betransmitted over physical and/or wireless communications links.

The illustration of data processing system 3800 in FIG. 38 is not meantto provide architectural limitations to the manner in which the exampleembodiments may be implemented. The different example embodiments may beimplemented in a data processing system that includes components inaddition to or in place of those illustrated for data processing system3800. Further, components shown in FIG. 38 may be varied from theillustrative examples shown.

Example embodiments of the disclosure may be described in the context ofaircraft manufacturing and service method 3900 as shown in FIG. 39 andaircraft 4000 as shown in FIG. 40 . Turning first to FIG. 39 , anillustration of an aircraft manufacturing and service method is depictedin accordance with an example embodiment. During pre-production,aircraft manufacturing and service method 3900 may include specificationand design 3902 of aircraft 4000 in FIG. 40 and material procurement3904.

During production, component and subassembly manufacturing 3906 andsystem integration 3908 of aircraft 4000 in FIG. 40 takes place.Thereafter, aircraft 4000 in FIG. 40 may go through certification anddelivery 3910 in order to be placed in service 3912. While in service3912 by a customer, aircraft 4000 in FIG. 40 is scheduled for routinemaintenance and service 3914, which may include modification,reconfiguration, refurbishment, and other maintenance or service.

Each of the processes of aircraft manufacturing and service method 3900may be performed or carried out by a system integrator, a third party,and/or an operator. In these examples, the operator may be a customer.For the purposes of this description, a system integrator may include,without limitation, any number of aircraft manufacturers andmajor-system subcontractors; a third party may include, withoutlimitation, any number of vendors, subcontractors, and suppliers; and anoperator may be an airline, a leasing company, a military entity, aservice organization, and so on.

With reference now to FIG. 40 , an illustration of an aircraft isdepicted in which an example embodiment may be implemented. In thisexample, aircraft 4000 is produced by aircraft manufacturing and servicemethod 3900 in FIG. 39 and may include airframe 4002 with plurality ofsystems 4004 and interior 4006. Examples of systems 4004 include one ormore of propulsion system 4008, electrical system 4010, hydraulic system4012, and environmental system 4014. Any number of other systems may beincluded. Although an aerospace example is shown, different exampleembodiments may be applied to other industries, such as the automotiveindustry.

Apparatuses and methods embodied herein may be employed during at leastone of the stages of aircraft manufacturing and service method 3900 inFIG. 39 . In particular, assembly 304 from FIG. 3 or fuselage assembly102 from FIG. 1 may be manufactured during any one of the stages ofaircraft manufacturing and service method 3900. For example, withoutlimitation, assembly system 302 from FIG. 3 or assembly system 413 fromFIG. 4 may be used to join parts of assembly 304 from FIG. 3 or lapsplice 400 from FIG. 4 , respectively, during at least one of componentand subassembly manufacturing 3906, system integration 3908, routinemaintenance and service 3914, or some other stage of aircraftmanufacturing and service method 3900. Further, assembly 304 or lapsplice 400 may be used to form at least one of airframe 4002 or interior4006 of aircraft 4000.

Still further, high-density robotic system 2400 of FIG. 24 or any one ofplurality of cells 2402 described in FIG. 24 may be used to performautomated fastener installation operations during any one of the stagesof aircraft manufacturing and service method 3900. For example,high-density robotic system 2400 of FIG. 24 or any one of plurality ofcells 2402 described in FIG. 24 may be used during at least one ofcomponent and subassembly manufacturing 3906, system integration 3908,routine maintenance and service 3914, or some other stage of aircraftmanufacturing and service method 3900. Additionally, these automatedfastener installation operations may be performed to build at least oneof airframe 4002 or interior 4006 of aircraft 4000.

In one illustrative example, components or subassemblies produced incomponent and subassembly manufacturing 3906 in FIG. 39 may befabricated or manufactured in a manner similar to components orsubassemblies produced while aircraft 4000 is in service 3912 in FIG. 39. As yet another example, one or more apparatus embodiments, methodembodiments, or a combination thereof may be utilized during productionstages, such as component and subassembly manufacturing 3906 and systemintegration 3908 in FIG. 39 . One or more apparatus embodiments, methodembodiments, or a combination thereof may be utilized while aircraft4000 is in service 3912 and/or during maintenance and service 3914 inFIG. 39 . The use of a number of the different example embodiments maysubstantially expedite the assembly of and/or reduce the cost ofaircraft 4000.

Thus, the example embodiments provide a method and apparatus for easilyand efficiently performing automated fastener installation operations.The example embodiments describe single function end effectors thatprovide a single-sided (one-sided) clamp-up solution to maintain theclamping of parts while other single function end effectors are beingswapped out on the opposite side.

Using single function end effectors that perform distinct, specializedtasks may provide for smaller, lighter, and less complex end effectors.The simplicity of these single function end effectors may improve theefficiency, reliability, and maintenance demands of these end effectorsand may reduce the overall size of the supporting robotic devices towhich these end effectors are coupled.

With these types of single function end effectors and the methods andapparatuses described in the different example embodiments, multipleautomated operations, such as automated fastener installationoperations, may be performed quickly and efficiently. In particular,overall production times may be reduced. The example embodimentsdescribed provide time and cost savings, while also greatly reducing thecomplexity of the overall process needed for performing hundreds tothousands of fastener installation operations accurately.

In one example embodiment, a method for performing a fastenerinstallation is provided. A first mechanical force is applied to a firstpart and a second mechanical force is applied to a second part to form aclamp-up of the first part and the second part. Air is suctioned througha fastener hole, which is formed by a first hole in the first part thatis aligned with a second hole in the second part, to pull the secondpart towards the first part and thereby maintain the clamp-up of thefirst part and the second part.

In still yet another example embodiment, a method is provided foraligning a first hole in a first panel with a second hole in a secondpanel to define a through-hole. A wall that defines the second hole isgripped from within the through-hole to pull the second panel towardsthe first panel and thereby establish a clamp-up of the first panel andthe second panel.

In another example embodiment, a method for maintaining a clamp-up isprovided. A first mechanical force and a second mechanical force areapplied to a first part and a second part, respectively, to form theclamp-up. The first part forms a first side of the clamp-up and thesecond part forms a second side of the clamp-up. Air is suctioned, fromthe first side of the clamp-up, through a fastener hole that extendsthrough the first part and the second part to pull the second parttowards the first part. The first mechanical force and the secondmechanical force are removed simultaneously while continuing to suctionsuch that the suctioning independently maintains the clamp-up afterremoval of the first mechanical force and the second mechanical force.

In another example embodiment, a method is provided for maintaining aclamp-up. Air is suctioned from a first side of a clamp-up of a firstpart and a second part through a fastener hole formed by a first hole inthe first part and a second hole in the second part to pull the secondpart towards the first part and thereby provide the clamp-up of thefirst part and the second part.

In yet another example embodiment, a method for maintaining a clamp-upis provided. A first end effector at a first side of a panel jointapplies a first force via contact with the first side of a panel joint.A second end effector at a second side of the panel joint applies asecond force that is equal and opposite to the first force via contactwith the second side of the panel joint to establish the clamp-up. Thefirst end effector at the first side of the panel joint maintains theclamp-up after the second end effector is removed from contact with thesecond side.

In still yet another example embodiment, a method for a single-sidedclamp-up is provided. A single function end effector positioned at afirst side of a panel joint applies a first force to a first panel ofthe panel joint. The single function end effector applies a second forcethat is equal and opposite to the first force to a second panel of thepanel joint to thereby provide the single-sided clamp-up of the firstpanel and the second panel.

In another example embodiment, a method of providing a clamp-up isprovided. The method includes reaching through a first hole in a firstpart to grip a wall that defines a second hole in a second part tothereby pull the second part against the first part.

In an example embodiment, an apparatus for maintaining a clamp-upcomprises a nozzle and a suction device. The nozzle has a nozzlediameter greater than a hole diameter of a first hole in a first part.The nozzle is used to apply a first mechanical force to a first side ofthe clamp-up when engaged with the first part. The suction device is forsuctioning air, from the first side of the clamp-up, through a fastenerhole formed by the first hole in the first part and a second hole in asecond part and through the nozzle. The air is suctioned with avolumetric flow rate sufficient to maintain the clamp-up of the firstpart and the second part from the first side without requiring anadditional force at a second side of the clamp-up.

In another example embodiment, an apparatus for forming a clamp-upcomprises an end effector. The end effector is positioned at a firstside of a panel joint and applies a first clamp-up force to a firstpanel of a panel joint and an equal and opposite second clamp-up forceto a second panel of the panel joint to provide the clamp-up.

In another example embodiment, an apparatus for forming a clamp-upcomprises a first clamp-up end effector on a first side of a paneljoint; a second clamp-up end effector on a second side of a panel joint;and a through-hole clamping apparatus incorporated into the firstclamp-up end effector. The first clamp-up end effector is incommunication with the second clamp-up end effector.

In one example embodiment, a method for performing automated tasks foran assembly is provided. A first plurality of robotic devices ispositioned relative to a first side of the assembly. A second pluralityof robotic devices is positioned relative to a second side of theassembly, each of the second plurality of robotic devices being used toperform a corresponding task. A plurality of tasks is performed at eachof a plurality of locations on the assembly using the first plurality ofrobotic devices and the second plurality of robotic devices. The secondplurality of robotic devices concurrently perform tasks at the pluralityof locations while the first plurality of robotic devices independentlymaintain a clamp-up at each of the plurality of locations.

In another example embodiment, a method is provided for building afuselage assembly of an aircraft. A plurality of cells is positionedrelative to corresponding sections of the fuselage assembly, each of theplurality of cells comprising a first plurality of robotic devicespositioned relative to a first side of the fuselage assembly; and asecond plurality of robotic devices positioned relative to a second sideof the fuselage assembly. An automated operation is performed at each ofa plurality of locations at each of the corresponding sections of thefuselage assembly concurrently using the plurality of cells, whereinrobotic devices of each cell are interchangeable to perform differenttasks of the automated operation according to a predetermined tasksequence.

In yet another example embodiment, an apparatus comprises a firstplurality of robotic devices; a second plurality of robotic devices; anda control system. Each of the second plurality of robotic devices iscoupled to a single function end effector. The control system controlsthe second plurality of robotic devices to concurrently perform tasks ata plurality of locations on an assembly, while the first plurality ofrobotic devices independently maintain a clamp-up at each of theplurality of locations.

In another example embodiment, a high-density robotic system comprises afirst plurality of robotic devices; a second plurality of roboticdevices; a first platform; and a second platform. Each of the firstplurality of robotic devices is capable of providing a single-sidedclamp-up. The second plurality of robotic devices includes a firstrobotic device coupled to a drilling end effector; a second roboticdevice coupled to an inspection end effector; and a third robotic devicecoupled to a fastener insertion end effector. The first platformsupports the first plurality of robotic devices, the first platformbeing sized to fit and move within an interior of a fuselage assembly.The second platform supports the second plurality of robotic devices,the second platform being sized for positioning and movement along anexterior of the fuselage assembly.

In another example embodiment, a method is provided for performingautomated fastener installation operations along a fuselage assembly foran aircraft. A first platform supporting a first plurality of roboticdevices of a robotic cell is positioned within an interior of a fuselageassembly relative to a selected section of the fuselage assembly. Asecond platform supporting a second plurality of robotic devices of therobotic cell is positioned along an exterior of the fuselage assemblyrelative to the selected section of the fuselage assembly. Automatedfastener installation operations are performed at selected fastenerinstallation points on the selected section of the fuselage assemblyusing a first plurality of end effectors coupled to the first pluralityof robotic devices and a second plurality of end effectors coupled tothe second plurality of robotic devices, with the first plurality of endeffectors being used to provide single-sided clamp-up at the selectedfastener installation points.

In another example embodiment, a method is provided for performingautomated operations using a high-density robotic cell. A plurality ofdifferent tasks is performed at each location of a plurality oflocations along an assembly according to a predetermined task sequenceusing a plurality of robotic devices. The plurality of robotic devicesis used to perform at least two of the plurality of different tasks forat least two different locations of the plurality of locationsconcurrently within a high-density robotic zone, during at least onestage in the predetermined task sequence.

In another example embodiment, a method is provided for installingfasteners at a plurality of locations along a joint. A plurality ofdifferent tasks for a fastener installation operation is performedconcurrently at selected locations of the plurality of locations using aplurality of single function end effectors positioned relative to theselected locations in a high-density setup.

In another example embodiment, a method is provided for providingmultiple single-sided clamp-ups. A two-sided clamp-up is established ata first fastener installation point using a first robotic device at afirst side of a joint and a second robotic device at a second side ofthe joint. The two-sided clamp-up at the first fastener installationpoint is converted to a single-sided clamp-up using the first roboticdevice. The second robotic device is moved along the second side of thejoint to a second fastener installation point, while maintaining thesingle-sided clamp-up at the first fastener installation point. A thirdrobotic device is moved along the second side of the joint to the firstfastener installation point, while maintaining the single-sided clamp-upat the first fastener installation point.

In another example embodiment, a method is provided for installingfasteners on a splice. A sequence of operations to be performed by aplurality of cells on the splice is determined. The sequence ofoperations is performed on the splice using the plurality of cells, eachcell of the plurality of cells including a first plurality of roboticdevices located in a first high-density robotic zone at a first side ofthe splice and a second plurality of robotic devices located in a secondhigh-density robotic zone at a second side of the splice.

The flowcharts and block diagrams in the different depicted embodimentsillustrate the architecture, functionality, and operation of somepossible implementations of apparatuses and methods in an exampleembodiment. In this regard, each block in the flowcharts or blockdiagrams may represent a module, a segment, a function, and/or a portionof an operation or step.

In some alternative implementations of an example embodiment, thefunction or functions noted in the blocks may occur out of the ordernoted in the figures. For example, in some cases, two blocks shown insuccession may be executed substantially concurrently, or the blocks maysometimes be performed in the reverse order, depending upon thefunctionality involved. Also, other blocks may be added in addition tothe illustrated blocks in a flowchart or block diagram.

As used herein, the phrase “at least one of,” when used with a list ofitems, means different combinations of one or more of the listed itemsmay be used and only one of the items in the list may be needed. Theitem may be a particular object, thing, step, operation, process, orcategory. In other words, “at least one of” means any combination ofitems or number of items may be used from the list, but not all of theitems in the list may be required. For example, without limitation, “atleast one of item A, item B, or item C” or “at least one of item A, itemB, and item C” may mean item A; item A and item B; item B; item A, itemB, and item C; item B and item C; or item A and C. In some cases, “atleast one of item A, item B, or item C” or “at least one of item A, itemB, and item C” may mean, but is not limited to, two of item A, one ofitem B, and ten of item C; four of item B and seven of item C; or someother suitable combination.

The description of the different example embodiments has been presentedfor purposes of illustration and description, and is not intended to beexhaustive or limited to the embodiments in the form disclosed. Manymodifications and variations will be apparent to those of ordinary skillin the art. Further, different example embodiments may provide differentfeatures as compared to other desirable embodiments. The embodiment orembodiments selected are chosen and described in order to best explainthe principles of the embodiments, the practical application, and toenable others of ordinary skill in the art to understand the disclosurefor various embodiments with various modifications as are suited to theparticular use contemplated.

What is claimed is:
 1. A method for performing automated tasks for anassembly, the method comprising: positioning a first plurality ofrobotic devices relative to a first side of the assembly; positioning asecond plurality of robotic devices relative to a second side of theassembly, each of the second plurality of robotic devices being used toperform a corresponding task; and performing a plurality of tasks ateach of a plurality of locations on the assembly using the firstplurality of robotic devices and the second plurality of roboticdevices, the second plurality of robotic devices concurrently performingtasks at the plurality of locations while the first plurality of roboticdevices independently maintain a single-sided clamp-up at each of theplurality of locations.
 2. The method of claim 1, wherein positioningthe first plurality of robotic devices comprises: positioning threerobotic devices relative to the first side of the assembly having an endeffector capable of providing a single-sided clamp-up.
 3. The method ofclaim 1, wherein positioning the second plurality of robotic devicescomprises: positioning three robotic devices relative to the second sideof the assembly, each of the three robotic devices being coupled to asingle function end effector for performing a different, specializedtask as compared to the other two robotic devices.
 4. The method ofclaim 3, wherein positioning three robotic devices comprises:positioning a first robotic device with a drilling end effector, asecond robotic device with an inspection end effector, and a thirdrobotic device with a fastener insertion end effector relative to thesecond side of the assembly.
 5. The method of claim 1, whereinperforming the plurality of tasks comprises: providing, independently, asingle-sided clamp-up of a first panel and a second panel of theassembly using the first plurality of robotic devices while the secondplurality of robotic devices are being interchanged at the second sideof the assembly.
 6. The method of claim 5, wherein providing,independently, the single-sided clamp-up comprises: suctioning, by anend effector coupled to one of the first plurality of robotic devices,air through a fastener hole that extends through the first panel and thesecond panel from the first side of the assembly to provide a grippingforce that grips a wall defining a portion of the fastener hole in thesecond panel to thereby pull the second panel towards the first panel.7. The method of claim 1, wherein: before achieving the single-sidedclamp-up by the first plurality of robotic devices, pushing elements ofthe first and second pluralities of robotic devices against the assemblyfrom the first and second sides of the assembly to achieve a firstclamp-up at each of the plurality of locations; while independentlymaintaining the single-sided clamp-up by the first plurality of roboticdevices, moving the elements of the second plurality of robotic devicesaway from the assembly.
 8. The method of claim 1, wherein performing theplurality of tasks comprises: performing a clamp-up sequence at a firstlocation of the plurality of locations on the assembly using a first endeffector and a drilling end effector, the first end effector beingcoupled to a corresponding one of the first plurality of robotic devicesand the drilling end effector being coupled to a corresponding one ofthe second plurality of robotic devices.
 9. The method of claim 8,wherein performing the clamp-up sequence comprises: drilling a firsthole through the assembly at the first location on the assembly usingthe drilling end effector; and suctioning air through the first hole tomaintain the clamp-up at the first location, wherein the suctioningcontinues at least until a first fastener is installed within the firsthole.
 10. The method of claim 8, wherein performing the plurality oftasks further comprises: moving and positioning the drilling endeffector relative to a second location of the plurality of locations onthe assembly; and moving and positioning an inspection end effector atthe first location, while the first end effector continues toindependently maintain the clamp-up at the first location, wherein theinspection end effector is coupled to a corresponding one of the secondplurality of robotic devices.
 11. The method of claim 10, whereinperforming the plurality of tasks further comprises: inspecting a firsthole at the first location using the inspection end effector, while thefirst end effector independently maintains the clamp-up at the firstlocation; and performing the clamp-up sequence at the second locationusing the drilling end effector and a second end effector positionedrelative to the second location at the first side of the assembly,wherein the clamp-up sequence and inspection of the first hole areperformed concurrently; and wherein the second end effector is coupledto a corresponding one of the first plurality of robotic devices. 12.The method of claim 11, wherein performing the plurality of tasksfurther comprises: moving and positioning the drilling end effectorrelative to a third location of the plurality of locations on theassembly; moving and positioning the inspection end effector at thesecond location, while the second end effector continues toindependently maintain the clamp-up at the first location, wherein theinspection end effector is coupled to a corresponding one of the secondplurality of robotic devices; and moving and positioning a fastenerinsertion end effector at the first location, while the first endeffector continues to independently maintain the clamp-up at the firstlocation, wherein the fastener insertion end effector is coupled to acorresponding one of the second plurality of robotic devices.
 13. Themethod of claim 12, wherein performing the plurality of tasks furthercomprises: installing a fastener within the first hole using thefastener insertion end effector, while the first end effectorindependently maintains the clamp-up at the first location; inspecting asecond hole at the second location using the inspection end effector,while the second end effector independently maintains the clamp-up atthe second location; and performing the clamp-up sequence at the thirdlocation using the drilling end effector and a third end effectorpositioned relative to the third location at the first side of theassembly, wherein the third end effector is coupled to a correspondingone of the first plurality of robotic devices; and wherein installationof the fastener at the first location, inspection of the second hole atthe second location, and the clamp-up sequence at the third location areperformed concurrently.
 14. The method of claim 1, further comprising:tailoring interchanging of the second plurality of robotic devices tomeet selected takt time and production requirements.
 15. The method ofclaim 1, further comprising: supporting the first plurality of roboticdevices on a platform that is positioned to enable the first pluralityof robotic devices to perform tasks on a side facing an inner mold lineof a fuselage assembly of an aircraft.
 16. The method of claim 1,further comprising: supporting the second plurality of robotic deviceson a platform that is positioned to enable the first plurality ofrobotic devices to perform tasks on a side facing an outer mold line ofa fuselage assembly of an aircraft.
 17. The method of claim 16, whereinperforming the plurality of tasks comprises: interchanging the secondplurality of robotic devices by moving robotic devices of the secondplurality of robotic devices on the platform while the platform remainsstationary.
 18. A method for building a fuselage assembly of anaircraft, the method comprising: positioning a plurality of cellsrelative to corresponding sections of the fuselage assembly, each of theplurality of cells comprising: a first plurality of robotic devicespositioned relative to a first side of the fuselage assembly; and asecond plurality of robotic devices positioned relative to a second sideof the fuselage assembly; and performing an automated operation at eachof a plurality of locations at each of the corresponding sections of thefuselage assembly concurrently using the plurality of cells, whereinrobotic devices of each cell are interchangeable to perform differenttasks of the automated operation according to a predetermined tasksequence.
 19. The method of claim 18, wherein positioning the pluralityof cells comprises: positioning a platform at the first side of thefuselage assembly within an interior of the fuselage assembly;supporting the second plurality of robotic devices on the platform; andpositioning the second plurality of robotic devices on the platformrelative to the first side of the assembly.
 20. The method of claim 18,wherein positioning the plurality of cells comprises: positioning anautomated guided vehicle relative to the second side of the fuselageassembly; supporting the first plurality of robotic devices on aplatform coupled to the automated guided vehicle; and positioning thefirst plurality of robotic devices on the platform relative to thesecond side of the fuselage assembly.
 21. The method of claim 18,further comprising: tailoring interchanging of the second plurality ofrobotic devices to meet selected takt time and production requirements.22. An apparatus comprising: a first plurality of robotic devices; asecond plurality of robotic devices, each of the second plurality ofrobotic devices coupled to a single function end effector; and a controlsystem for controlling the second plurality of robotic devices toconcurrently perform tasks at a plurality of locations on an assembly,while the first plurality of robotic devices independently maintain asingle-sided clamp-up at each of the plurality of locations.
 23. Theapparatus of claim 22, wherein the second plurality of robotic devicescomprises: a first robotic device coupled to a drilling end effector; asecond robotic device coupled to an inspection end effector; and a thirdrobotic device coupled to a fastener insertion end effector.
 24. Theapparatus of claim 22, further comprising: a platform to support thefirst plurality of robotic devices; wherein the controller is configuredto: before achieving the single-sided clamp-up by the first plurality ofrobotic devices, push elements of the first and second pluralities ofrobotic devices against the assembly from the first and second sides ofthe assembly to achieve a first clamp-up at each of the plurality oflocations; while independently maintaining the single-sided clamp-up bythe first plurality of robotic devices, move the elements of the secondplurality of robotic devices away from the assembly.
 25. The apparatusof claim 24, wherein each of the first plurality of robotic devices issized such that the second plurality of robotic devices fits on theplatform while still allowing sufficient room for interchanging roboticdevices of the second plurality of robotic devices.
 26. The apparatus ofclaim 25, wherein the control system controls interchanging of thesecond plurality of robotic devices to meet selected takt time andproduction requirements.
 27. The apparatus of claim 22, wherein each ofthe first plurality of robotic devices comprises: a nozzle sized basedon a selected hole diameter for holes that are to be drilled within theassembly; and a suction device for use in providing a single-sidedclamp-up.
 28. The apparatus of claim 22, wherein each of the firstplurality of robotic devices and each of the second plurality of roboticdevices is sized to fit on a platform that is coupled to an automatedguided vehicle.
 29. The apparatus of claim 22, wherein the assembly is afuselage assembly of an aircraft.
 30. A method for building the assemblyof an aircraft using the apparatus of claim 22.